Honda Motor Co., Ltd.

Tatsuya Ishikawa

Mamiko Inoue

Kentaro Shiraki

Toru Takenaka

Makoto Kobayashi

Hideo Shimizu

Naoki Mori

Ken Yasuhara

Yuji Koga

Makoto Nakatsuka

Hiroyuki Goto

Joko Karasawa

Yasuhito Kuromiya

A control device of a vehicle capable of traveling according to a plurality of traveling modes including a first traveling mode and a second traveling mode is provided. The control device includes a traveling mode control unit and an internal combustion engine control unit. The internal combustion engine control unit increases a rotational speed of a internal combustion engine at a predetermined increase rate as a vehicle speed increases when the vehicle is traveling in the first traveling mode. The traveling mode control unit includes a prediction increase rate acquisition unit configured to acquire a prediction increase rate, and a transition prohibition setting unit configured to prohibit transition to the second traveling mode when a transition condition is satisfied, based on the prediction increase rate acquired by the prediction increase rate acquisition unit and the increase rate.

Control device of vehicle

A control device of a vehicle configured to travel on a plurality of travel modes includes an internal combustion engine control unit and a travel mode control unit. When a difference between a rotation speed of an internal combustion at a time when a transition condition is satisfied and a predicted rotation speed is equal to or larger than a threshold value, the internal combustion engine control unit performs rotation speed control such that the rotation speed of the internal combustion engine approaches the predicted rotation speed, and the travel mode control unit shifts a travel mode to a second travel mode after the rotation speed control of the internal combustion engine control unit is completed. The rotation speed control is control in which the rotation speed is changed in a plurality of stages so as to approach the predicted rotation speed.

A control device of a vehicle includes: a travel mode control unit configured to set, based on a traveling state of the vehicle, any travel mode among a plurality of travel modes; and a predicted rotation speed acquisition unit configured to acquire, when a transition condition to a second travel mode is satisfied based on the traveling state of the vehicle that is travelling in a first travel mode, a predicted rotation speed of the internal combustion engine when the travel mode is shifted to the second travel mode at a time when the transition condition is satisfied. The travel mode control unit includes a transition prohibition setting unit configured to prohibit transition to the second travel mode when a difference between a rotation speed of the internal combustion engine when the transition condition is satisfied and the predicted rotation speed is equal to or larger than a threshold value.

A control device includes an internal combustion engine control unit configured to control an internal combustion engine. The internal combustion engine control unit is configured to, in a case where a first traveling mode, increase a rotational speed of the internal combustion engine in accordance with an increase in a speed of a vehicle and when the rotational speed reaches a predetermined first rotational speed, decrease the rotational speed to a second rotational speed lower than the first rotational speed, calculate a decrease rate of the rotational speed of the internal combustion engine per unit time when the rotational speed is decreased from the first rotational speed to the second rotational speed, and in a case where the traveling mode setting unit shifts from the first traveling mode to the second traveling mode, decrease the rotational speed of the internal combustion engine based on the decrease rate.

An internal combustion engine control unit is configured to, in a case where a traveling mode setting unit sets a first traveling mode, increase a rotational speed of an internal combustion engine in accordance with an increase in a speed of a vehicle, and when a rotational speed reaches a predetermined first rotational speed, decrease the rotational speed to a second rotational speed lower than the first rotational speed. In a case where the internal combustion engine control unit decreases the rotational speed of the internal combustion engine to the second rotational speed, the traveling mode setting unit forbids a transition to the second traveling mode for a predetermined period from when the rotational speed is decreased to the second rotational speed.

Provided is a walking assist device including a main frame configured to be worn by a user, a power unit mounted on the main frame, a pair of power transmission members for transmitting assist force provided by the power unit to femoral parts of the user and a control unit for controlling an operation of the power unit, wherein the control unit comprises a differential angle computation unit for computing a differential angle between angular positions of the femoral parts of the user about respective hip joints of the user; a differential angle phase computation unit for computing a differential angle phase according to the differential angle; and an assist force computation unit for computing an assist force to be applied to the user according to the differential angle phase.

Walking assist device

The present invention provides a motion assist apparatus capable of reducing the discomfort of a user that may be caused when a motion is assisted. A motion assist apparatushas actuators, which apply a force for controlling the posture of the upper body of a user P through the intermediary of a second frame, a posture estimation sensor PS, which detects a posture angle &#x3b8; of the upper body of the user P, a control unit C, which controls the actuatorsto reduce a deviation d&#x3b8; of a posture angle &#x3b8; from a reference posture angle &#x3b8;0, and a trigger sensor TS, which detects the occurrence of a trigger event. The control unit C sets the posture angle at the time of the occurrence of the trigger event as the reference posture angle &#x3b8;0.

Motion assist apparatus

A vehicle steering controller includes a shape recognizer that recognizes a shape of a road on the basis of a captured image, a steering control unit that controls steering of a vehicle on the basis of the shape of the road recognized by the shape recognizer, and a determiner that determines whether or not the shape of the road recognized by the shape recognizer is that of a transitional section between a curved road section and a linear road section. If the determination made by the determiner is negative, then the shape recognizer recognizes the shape of the road by performing an approximation using an approximation expression having a degree of one or two, otherwise the shape recognizer recognizes the shape of the road by performing an approximation using an approximation expression having a degree of three.

Vehicle steering controller

A vehicle automatic transmission includes a plurality of gears provided on an input shaft, a countershaft, and an output shaft and are meshed with one another. A plurality of hydraulic clutches are each configured to couple any of the gears to the input shaft, the countershaft, or the output shaft to establish a predetermined shift stage. An engagement unit is configured to couple a reverse gear to the input shaft or the countershaft to establish a reverse shift stage. A shift-position detection unit is configured to detect a shift position. A vehicle-speed detection unit is configured to detect a vehicle speed. A control unit is configured to detect, based on an output of the shift-position detection unit, a first time and a second time. The control unit is configured to delay a timing when the engagement unit operates after the shift position changes to an R-position.

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Saitama, Japan

Tatsuya Ishikawa