Honda Motor Co., Ltd.

Takashi Kuboshima

Jun Ochida

Hiroaki Horii

Ken Hanayama

Tadahiko Kanou

Daichi Kato

Kanta Tsuji

Tadahiko Kanoh

Ichiro Ueno

Takuyuki Mukai

Akihiko Koike

Yasuharu Hashimoto

Ikuo Nonaga

Yuichi Komori

Yutaka Kichima

Makoto Taniguchi

Katsuyuki Takei

Akihiko Aoyagi

Masashi Kanesaka

Hiroshi Koan

A vehicle system recognizes a situation of surroundings of a host vehicle, automatically controls at least steering of the host vehicle on the basis of the recognized situation of the surroundings to cause the host vehicle to perform lane change, acquires information on a route from a navigation device guiding the route along which the host vehicle travels, and suppresses control for assisting the steering on the basis of an event regarding the route when the event occurs in the navigation device.

Vehicle system, control method, and storage medium

A vehicle control apparatus includes a first control unit and a second control unit each configured to perform travel control of a vehicle based on a recognition result of an external recognition device group configured to obtain external information of the vehicle and a detection result of a vehicle information detection unit configured to obtain state information of an actuator group of the vehicle. In a case in which functional degradation of at least one of the external recognition device group, the actuator group, and the vehicle information detection unit is detected, based on the recognition result and the detection result, the first control unit determines contents of vehicle control in fallback control for restricting a travel control function of the vehicle and determines whether to execute the fallback control by one of the first control unit and the second control unit.

Vehicle control apparatus, vehicle, vehicle control method, and non transitory computer readable storage medium

An external-world recognition system includes: a satellite positioning device that measures the position of a vehicle by receiving radio waves transmitted from artificial satellites; a yaw rate sensor that detects or estimates the movement of the vehicle; a camera that acquires external-world information about the surroundings of the vehicle; and an external-world recognition device that recognizes external-world information considering a reference direction as the center. The external-world recognition device corrects a detection value from the yaw rate sensor on the basis of time-series positions of the vehicle as measured by the satellite positioning device and corrects the reference direction on the basis of the corrected detection value.

External-world recognition system

A surroundings recognition unit recognizes the road environment and traffic participants around the host vehicle. A condition satisfaction determination unit determines whether or not first to fifth conditions are satisfied, on the basis of recognition results from the surroundings recognition unit. When causing the host vehicle to travel in a lane of a traveling road adjacent to the edge of the traveling road, a control unit changes travel control content and/or notification control content relating to automated driving, depending on whether or not the first to fifth conditions are satisfied.

Vehicle control device

A vehicle motion determining unit determines a value indicative of a motion of the vehicle that occurs in the vehicle transverse direction of a host vehicle, on the basis of a planned travel trajectory generated by a trajectory generating unit at a time of making a lane change. The grasping request unit outputs a grasping request to the notification control unit to request grasping of the steering wheel in the case that the value indicative of the vehicle motion is greater than or equal to a predetermined value.

A vehicle operation setting unit determines vehicle operations of a host vehicle. When a course change is performed, the vehicle operation setting unit sets values (at least one of target values for a velocity, an acceleration/deceleration, a curvature, a yaw rate, a steering angle, and a lateral G force) to be less than or equal to upper limit values thereof. The vehicle operation setting unit causes the upper limit values to differ between a case in which a preceding vehicle is recognized by an external environment recognition unit, and a case in which a preceding vehicle is not recognized by the external environment recognition unit.

A brake system for a vehicle includes an electrically operated parking brake drive device which generates an operating force for operating the wheel brakes or dedicated parking brakes in response to energization, and which operates even upon cancellation of the energization while in the operated state. A braking force related amount detector detects a physical quantity related to a braking force exhibited by each of the hydraulic pressure operated wheel brakes. When a detected physical quantity exceeds a reference value in a stopped state of the vehicle, a controller energizes the electrically operated parking brake drive device. Thus, the frequency of operation of the electrically operated parking brake drive device is decreased while eliminating inconvenient operations required to operate the electrically operated parking brake drive device, thereby reducing noise and improving durability.

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Wako, Japan

Takashi Kuboshima