Honda Motor Co., Ltd.

Takuyuki Mukai

Jun Ochida

Kanta Tsuji

Jun Ibuka

Jun Tanaka

Tadahiko Kanoh

Shigehiro Honda

Takashi Tsujioka

Takuji Hiroma

Riho Harada

Tadahiko Kanou

Masahiko Asakura

Seiji Watanabe

Hironobu Kiryu

Hiroaki Horii

Mahito Shikama

Hitoshi Konishi

Ken Hanayama

Hiroyuki Nakashima

Yasuharu Hashimoto

Takashi Kuboshima

Yuichi Komori

Akihiko Aoyagi

Tatsuya Arikai

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

A vehicle control system includes a first actuator that is configured to perform at least any of driving, braking, or steering of a host vehicle, a first controller that is configured to perform traveling control of the host vehicle by controlling the first actuator, a second actuator that is configured to perform at least any of driving, braking, or steering of the host vehicle, a second controller that is configured to perform traveling control of the host vehicle by controlling the second actuator, and a communication line that is interposed between the first controller and the second controller. The first controller is configured to determine whether an operating state of the first actuator satisfies a predetermined condition, and limit, in a case where it is determined that the operating state of the first actuator satisfies the predetermined condition, control of the first actuator as compared to a case where it is determined that the predetermined condition is not satisfied, and transmits a predetermined signal to the second controller through the communication line, and in a case where the predetermined signal is received from the first controller through the communication line, the second controller performs traveling control of the host vehicle in place of at least a portion of a function of the first controller by controlling the second actuator.

Vehicle control system and vehicle control method

A vehicle control apparatus comprises: a path deviation determination unit configured to output a request signal for requesting driving takeover if a deviation amount of information representing a traveling state with respect to a target track is not less than a first threshold; and an operation monitoring unit configured to monitor processing of the path deviation determination unit. The operation monitoring unit determines that an abnormality has occurred in the path deviation determination unit if the deviation amount of the information representing the traveling state with respect to the target track is not less than a second threshold larger than the first threshold, and a state in which the request signal is not output continues for a predetermined period.

Vehicle control apparatus, vehicle, and vehicle control method

An object recognition apparatus for recognizing an object is provided. The apparatus includes first and second object determinations units configured to determine the object based on at least detection results of the object by first and second sensors and at least detection results of the object by third and fourth sensors, respectively; an object recognition unit configured to recognize the object based on a determination result by the first and/or second object determination unit; first and second calculation units configured to calculate a difference between the detection result by the first sensor and the detection result by the second sensor and a difference between the detection results by the third and fourth sensor, respectively; and a reliability decision unit configured to decide reliabilities of the determination results by the object determination units based on calculation results by the calculation units.

Object recognition apparatus, object recognition method, and vehicle

A vehicle control system includes an automated driving control unit for controlling, based on surrounding environment information of a vehicle, driving, braking, and/or steering of the vehicle without depending on a driving operation of a driver; and a driving support control unit for supporting driving of the vehicle by the driver by controlling driving, braking, and/or steering of the vehicle. The control units are communicably connected. The driving support control unit can control, depending on a reception result of a signal received from the automated driving control unit, steering, and driving and/or braking of the vehicle based on the surrounding environment information without depending on the driving operation of the driver.

Vehicle control system and control method

A vehicle control system includes first and second control apparatus for controlling a vehicle and a power supply. Each apparatus includes a detection unit for detecting a surrounding situation of the vehicle, and a driving control unit for executing automated driving control. The power supply includes a first power supply for supplying power to the first control apparatus, and a second power supply for supplying power to the second control apparatus.

Vehicle control system

A control system of a vehicle comprises first and second traveling control units configured to perform first and second traveling control of the vehicle, respectively, first and third communication units for the first and second traveling control unit to communicate with an external world recognition apparatus group, respectively, and second and fourth communication units for the first and second traveling control unit to communicate with a actuator group, respectively. The first and second traveling control units include first and second monitoring units configured to monitor a communication state of the first and third communication unit and a communication state of the second and fourth communication unit, respectively. When the first or second monitoring unit detects functional deterioration of the vehicle based on the communication states during monitoring, the first and/or second traveling control unit performs substitution control.

Vehicle, control system of vehicle, and control method of vehicle

This vehicle control device comprises an autonomous driving control unit which automatically controls the stopping of a vehicle. If it is determined by a crossing determination unit that there is no crossing, the autonomous driving control unit controls the stopping of the vehicle so that the vehicle is stopped at a standard target stop position corresponding to a stop line on the basis of the positional information of the stop line, whereas if it is determined by the crossing determination unit that there is a crossing, the autonomous driving control unit controls the stopping of the vehicle so that the vehicle is stopped at a position before the standard target stop position on the basis of the positional information of the stop line.

Vehicle control device and vehicle control method

The vehicle control device according to the present invention is a device that automatically controls the travel of a vehicle at least partially, the vehicle control device comprising: a traveling environment acquisition unit that acquires a traveling environment of the vehicle when the travel control is performed; and a vehicle control unit that performs state change control to change a state of the vehicle on the basis of the traveling environment acquired by the traveling environment acquisition unit, when the travel control is transitioned from automatic to manual or when such a transition is predicted.

Vehicle control device

A vehicle control device which at least partially automatically performs travel control of a vehicle includes processor(s) which diagnose failure of functions related to automated driving and to continue the automated driving with the functions partially stopped when a failure is diagnosed, and a light emission unit which provides notification to a surrounding of the vehicle by light emission that the vehicle is controlled in a fallback operation. The processor(s) detect an operation state of the light emission unit, permit execution of the automated driving when the light emission unit operates normally and prohibits the automated driving when the light emission unit does not operate normally.

A vehicle control device includes a takeover operation unit configured to execute operations whereby at least a portion of automated driving is handed over to manual driving performed by a driver, and a duration acquisition unit configured to acquire a duration of the automated driving when the at least a portion of the automated driving is handed over to manual driving performed by the driver. In the case that the duration is greater than or equal to a first predetermined time period, the takeover operation unit performs an operation to hand over driving to manual driving differently from an operation to hand over driving to manual driving in the case that the duration is less than the first predetermined time period.

A vehicle control device of the present invention at least partially automatically performs drive control for a vehicle by self-drive and is provided with: a hazard lamp for notification around the vehicle; and a light emitting control unit which, when a predetermined condition is satisfied during self-drive, performs light emitting control causing the hazard lamp to emit light. The light emitting control unit, as well as causing the hazard lamp to emit light, performs light emitting control whereby a lighting member, different from the hazard, for notification around the vehicle is caused to emit light when the hazard lamp is not normal.

Provided is a vehicle travel control device which simultaneously achieves the behavioral stability of a vehicle and the continuity of travel assistance during vehicle travel assistance. The setting range of controlled variable to an actuator in travel assistance control is limited on the basis of the information having higher priority among road type information and road shape information. Thus, compared to when the setting range of the control variable is determined on the basis of only the road type information or the road shape information, it is possible to suppress excessive limitations on the applicable range/duration time of travel assistance.

Vehicle travel control device

A vehicle control device includes a lane determining unit which, in the event there is a branching path or a merging path in a planned travel route of a host vehicle, is adapted to determine whether or not a lane in which the host vehicle is traveling differs from a lane in which the branching path or the merging path exists, and a lane change instructing unit which, in the event it is determined by the lane determining unit that the lane in which the host vehicle is traveling differs from the lane in which the branching path or the merging path exists, is adapted to set a route so that the host vehicle automatically performs a lane change into the lane in which the branching path or the merging path exists.

A vehicle includes a detection section and a automated drive controller. The detection section detects actual behavior of the vehicle. The automated drive controller generates a automated drive action plan for the vehicle, issues an instruction relating to behavior of the vehicle based on the generated action plan to a drive source controller that controls a drive source of the vehicle, and compares predicted behavior of the vehicle predicted based on the issued instruction and actual behavior of the vehicle detected by the detection section. In cases where the predicted behavior of the vehicle and the actual behavior of the vehicle detected by the detection section differ from each other by more than a preset range, the automated drive controller issues an instruction to decelerate the vehicle to a brake device of the vehicle.

Growing community of inventors

Wako, Japan

Takuyuki Mukai