Honda Motor Co., Ltd.

Yoshihiro Mori

Toru Takenaka

Hiroyuki Urabe

Sho Tamura

Takao Tamura

Osamu Yano

Daichi Inoue

Tomoyuki Hosoya

Kuniaki Matsushima

Tomoya Ushimura

A vehicle control device acquires a camera image obtained by capturing an image of surrounding circumstances of a vehicle, controls steering and acceleration/deceleration of the vehicle without depending on an operation of a driver of the vehicle on the basis of the camera image and map information, determines any of a plurality of driving modes including a first driving mode and a second driving mode as a driving mode of the vehicle, judges whether or not a preceding vehicle is present in front of the vehicle when it is judged that an abnormality has occurred, calculates, when it is judged that the preceding vehicle is present, a margin for the vehicle to continue traveling in the second driving mode, and causes the vehicle to continue traveling in the second driving mode for a period of time indicated based on the margin.

Vehicle control device, vehicle control method, and storage medium

A vehicle running control apparatus capable of enabling a vehicle to more easily follow a target running state and improving the running stability of the vehicle is provided. A running state obtaining unit obtains the actual running state (actual running path or running position) of a vehicle. A target running state setting unit sets the target running state (target path or target position) of the vehicle. A deviation obtaining unit obtains a deviation of the actual running state from the target running state. A running support controller performs running support control of the vehicle such that the running state of the vehicle becomes identical or closer to the target running state. At this time, a correction unit makes the target running state closer to the actual running state as the deviation becomes greater.

Vehicle travel control apparatus

An object is to provide a vehicle position determination device, a vehicle control system, a vehicle position determination method, and a vehicle position determination program capable of determining a position of a vehicle with higher accuracy. A vehicle position determination device includes a coordinates acquisition unit that acquires a position of a vehicle in a geographic coordinate system, a recognition unit that acquires lane information of a road on which the vehicle travels and recognizes the position of the vehicle on the lane, and a control unit that corrects the position acquired by the coordinates acquisition unit on the basis of the position recognized by the recognition unit, and determines the position of the vehicle in the geographic coordinate system.

Vehicle position determination device, vehicle control system, vehicle position determination method, and vehicle position determination program product

A road surface frictional coefficient estimating apparatus includes a device which determines a first estimated value of a to-be-compared external force acting on a vehicle due to the resultant force of road surface reaction forces using a determined frictional coefficient estimated value and the like, and a device which determines a second estimated value of the to-be-compared external force from the observed value of motional state amounts of the vehicle that define an inertial force corresponding to the to-be-compared external force. The estimated value of a road surface frictional coefficient is updated based on the difference between the first estimated value and the second estimated value. When the first estimated value and the second estimated value have opposite polarities, the updating of the estimated value of the road surface frictional coefficient based on the difference is not carried out.

Road surface frictional coefficient estimating apparatus

A road surface friction coefficient estimating device includes a means which finds a first estimated value Mnsp_estm of an external force to be compared (Sto S, S-), a means which finds a second estimated value Mnsp_sens (S-), and a plurality of increasing/decreasing manipulated variable determining means_k, each of which determines the increasing/decreasing manipulated variable &#x394;&#x3bc;_k of the friction coefficient estimated value on the basis of the first estimated value Mnsp_estm and the second estimated value Mnsp_sens, and updates the friction coefficient estimated value according to &#x394;&#x3bc;_k. The increasing/decreasing manipulated variable determining meansanddetermine &#x394;&#x3bc;and &#x394;&#x3bc;according to a deviation in filtering value between the first estimated value and the second estimated value, and the increasing/decreasing manipulated variable determining meansdetermines &#x394;&#x3bc;according to the deviation between the first estimated value and the second estimated value.

Road surface friction coefficient estimating device

A road surface frictional coefficient estimating apparatus has a device for determining a first estimated value of a yaw moment Mnsp_estm generated at an NSP of a vehicle due to the resultant force of road surface reaction forces acting on each wheel by using, for example, a frictional coefficient estimated value that has been determined, and a device for determining a second estimated value of a yaw moment Mnsp_sens generated at the NSP from the observed value of motional state amounts defining an inertial force moment at the NSP. The increasing/decreasing manipulated variable of the frictional coefficient estimated value is sequentially determined on an error (Mnsp_sens&#x2212;Mnsp_estm) such that the error is converged to zero, and the road surface frictional coefficient is updated on the basis of the increasing/decreasing manipulated variable.

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Wako, Japan

Yoshihiro Mori