Denso Corporation

Takehito Fujii

Tsutomu Tashiro

Mamoru Sawada

Toshiki Matsumoto

Motoaki Kataoka

Mamoru Mabuchi

Noboru Miyamoto

Yoshifumi Kato

Minoru Okada

Takahisa Yokoyama

Hiroshi Ishikawa

Daiji Watanabe

Hiroshi Inou

Seiji Totsuka

Hiromichi Tanaka

Kouichi Masuda

Shuji Kuramitsu

Kunihiko Chiba

Katsuyuki Mori

Tomohiro Kato

Tomoyuki Hori

An autonomous driving assistance device includes a manual driving control section, an autonomous driving control section, and a travelling condition determining section. If it is detected that there is a malfunction in a first sensor during control of the autonomous driving of the vehicle, the autonomous driving control section executes emergency autonomous driving until a predetermined condition is satisfied while changing, based on the determined travelling condition, a driving manner of an emergency autonomous driving as compared with a driving manner of the autonomous driving executed before no malfunctions are detected in the first sensor; and after the emergency autonomous driving is terminated, the autonomous driving assistance device being configured to selectively execute one of: causing the autonomous driving control section to stop the vehicle; and causing the manual driving control section to control the manual driving.

Autonomous driving assistance method and device

A correction value calculating sectionis provided with a pinion shaft torsion angle correction value calculating sectionand a pinion shaft torsion angular velocity correction value calculating sectionfor calculating a correction value in consideration with the transmission characteristic of the steering assist torque from the electric motorto the steerable vehicle wheel. Therefore, the electric motorcan generate the steering assist torque compensating for the influence by the transmission characteristic of the steering assist torque from the electric motorto the steerable vehicle wheelby correcting a target value defined by a detection value of the torque sensorwith the correction value.

Electric power steering controller

An acceleration control system stores a target acceleration calculation equation acquired by transforming an equation that expresses that a product of the differentiation of the square power of the speed and the environmental factor &#x3b1;represents a sensed value &#x3b5; of acceleration. A surrounding environment monitor device detects surrounding bodies present in the forward periphery of the vehicle, and an environmental factor calculation unit calculates the environmental factor &#x3b1;by using the detected positions of the surrounding bodies. A target acceleration setting unit successively sets target accelerations ain compliance with the target acceleration calculation equation by using the environmental factor &#x3b1;. The acceleration is executed to match the driver's feeling.

Acceleration control system

A method and an apparatus for estimating behaviors of a vehicle are provided. At least two GPS antennas are located along a longitudinal axis of a vehicle so that speed vectors at the positions where the GPS antennas are located can be determined based on GPS signals received by the GPS antennas. The speed vectors are known to be estimated with high accuracy based on the GPS signals. The positions of the GPS antennas on the local coordinate system are estimated based on such highly accurate speed vectors, so that the estimated positions may also have high accuracy. Based on a line connecting these highly accurate positions of the GPS antennas, an inclination of the longitudinal axis of the vehicle is estimated. Use of the high-accuracy speed vectors enables high-accuracy estimation on the positions of the GPS antennas and the vehicle direction on the local coordinate system.

Method and apparatus for estimating behaviors of vehicle using GPS signals

A control unit estimates reverse transfer torque transferred from tires to a steering wheel and calculates an assist gain based on the reverse transfer torque. The control unit calculates basic assist torque demand by multiplying torsion torque detected by a torque sensor by the assist gain. The control unit further calculates assist torque command by adding compensation for stabilization. Since the assist gain is determined based on the reverse transfer torque, actual assist torque is generated in accordance with the force transferred from the road surface. Thus, a driver can operate the steering wheel while feeling the force from the road surface.

Electric power steering system

A vehicle control system controls vibrations that are generated at a plurality of portions of a vehicle. An engine/drive system ECU and a brake system ECU store the same vehicle vibration model that is separated into a vehicle body vibration model, a chassis vibration model and a tire vibration model, respectively. The engine/drive system ECU controls the suppression of the vehicle body vibrations that are estimated from the vehicle vibration model and the brake system ECU controls the suppression of the chassis vibrations and the tire vibrations. Accordingly, it is easy to execute control for suppressing the respective vibrations.

Vehicle control system

A vehicle control system calculates driver-required wheel torque, correction wheel torque to stabilize vehicle motion, required output shaft torque, alternator base torque, target engine torque and alternator torque to realize the output shaft torque. The required output shaft torque is required to realize vehicle motion, and the alternator base torque is required to maintain amounts of electric power in batteries. In order to realize the torque including wide band frequency torque, a torque division unit divides the sum of the torque into each torque actuator response frequency torque. Therefore, the target alternator torque is calculated by the alternator base torque to maintain electric power in batteries and high frequency band torque required by vehicle motion control.

Vehicle control system and method

A vehicle integration control system includes a manager controller and a driving system controller. The manager controller sets a target generation driving force guide value for a driving force outputted from a driving system of a vehicle. The driving system controller controls the driving force on the basis of the target generation driving force guide value. The manager controller includes a driver request value setter and a driving force corrector. The driver request value setter sets a driver request generation driving force value corresponding to the driving force outputted from the driving system on the basis of a driver's input. The driving force corrector corrects the driver request generation driving force value on the basis of a predetermined program to restrain vibration generated in the vehicle when the driving force outputted from the driving system.

Vehicle integration control system and program

While a driving torque TD outputted to a driving shaft via an AT from an engine is detected, a road-surface transmitting torque Td_tire is detected based on rotation speeds Vwdr, Vwdl of vehicle driving wheels, a vehicle body speed Vd, and driving torques Tdr, Tdl, all of which are previously detected. The driving torque TD and the road-surface transmitting torque Td_tire are then compared to each other. When TD&#x3e;Td_tire, the driving torque from an engine is controlled so as to decrease a value of (TD&#x2212;Td_tire). The vibrations of individual vehicle parts are thereby decreased.

Vehicle behavior estimating device and vehicle behavior controlling device

In a driving condition control system, a sensing unit is configured to sense a first physical quantity indicative of a rotation of the first rotatable axle assembly and a second physical quantity indicative of a rotation of the second rotatable axle assembly. A correcting unit is configured to correct the torque according to the sensed first and second physical quantities of the rotations of the first and second rotational axle assemblies. This allows the torque to be precisely obtained.

Driving condition control method and system

In a driving condition control system, a sensing unit senses a first physical quantity indicative of a rotation of the first rotatable axle assembly and a second physical quantity indicative of a rotation of the second rotatable axle assembly. A determining unit compares the first and second physical quantities of the rotations of the first and second rotational axle assemblies and determines whether a driving condition of the vehicle is unstable according to the compared result. As a result, the unstable condition of the vehicle can be rapidly detected without detecting a yaw moment of the vehicle.

In a power steering apparatus employing an EPS (electrical power steering) motor coupled to a steering mechanism, when vibration of the steering mechanism is produced by twisting of tire rubber due to changes in steering angle, resultant pulsation of the drive current of the EPS motor are suppressed by adding to the drive current a current that is of equal frequency and opposite phase to the pulsation. Vibration of the EPS motor shaft, and resultant vibration of the steering wheel and vehicle body, are thereby effectively suppressed.

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Anjo, Japan

Takehito Fujii