Toyota Jidosha Kabushiki Kaisha

Denso Corporation

Jtekt Corporation

Yuji Okuda

Hidenobu Kinugasa

Hiroaki Kataoka

Katsuhiko Iwazaki

Isao Namikawa

Seiji Kawakami

Shinya Kawamata

Takahiro Toko

Chumsamutr Rattapon

Junpei Tatsukawa

Iwao Izumikawa

Takahiro Shimizu

Kazuma Hashimoto

Hiromasa Tamaki

Yoshiya Iwaki

Kazumichi Oka

Yoshihiro Kawaguchi

Taisuke Hasegawa

A driving supporter includes: a departure-possibility-value obtainer that obtains a departure-possibility value; a relative positional relationship obtainer that detects another vehicle located diagonally at a rear of an own vehicle and obtain a relative positional relationship between them; a support executer that executes a lane-departure prevention support; and a support controller that controls the support executer to execute the lane-departure prevention support when the departure-possibility value is greater than or equal to a threshold value. The support controller includes a threshold-value determiner that determines the threshold value to a smaller value when the relative positional relationship is a set relationship than when the relative positional relationship is not the set relationship. The set relationship is a relationship in which there is a possibility of collision of the own vehicle with the other vehicle in an event of departure of the own vehicle from a lane.

Driving supporter

A lane departure suppression device is provided in a car equipped with a steering angle change mechanism that changes a steering angle and with a motor that operates the steering angle change mechanism, and the lane departure suppression device includes: a main control unit that outputs a main control signal after a position of the car reaches a deflection starting position at which deflection of the car is started in order to suppress departure of the car from a lane, the main control signal representing a main control amount for causing the motor to generate an assist torque that changes the steering angle; and a pre-control unit that outputs, until the main control unit outputs the main control signal, a pre-control signal while the position of the car is located closer to a center of the lane than the deflection starting position is, the pre-control signal representing a pre-control amount for causing the motor to generate an assist torque equal to or less than a friction torque of the steering angle change mechanism.

Lane departure suppression device

A sensor output correction system is provided which is capable of minimizing a risk that a correction value for use in zero-point correction differs from an actual deviation of a zero-point. An ECU includes a travel road information acquisition portion which obtains a curvature of a travel road on which a system-mounted vehicle is traveling and a vehicle information acquisition portion which obtains a detected value of a yaw rate sensor. The ECU determines whether the system-mounted vehicle is traveling on a straight path or not based on the curvature derived by the travel road information acquisition portion. The ECU determines a value (i.e., a zero-point equivalent value) which corresponds to a deviation of a current zero point of the yaw rate sensor based on detected values of the yaw rate sensor sampled while the system-mounted vehicle is moving on the straight path. The ECU determines a correction value which is subtracted from the detected value using the zero-point equivalent value.

Sensor output correction apparatus

A vehicle control device includes a control unit configured to execute one of a plurality of assist controls based on an input of an execution command signal that is externally given. The control unit includes a control state switching unit that executes, based on an input state of the execution command signal, switching of a control state to execute the assist control. The control state includes a first control state and a second control state, the control state being switched from one of the first and second control states to the other of the first and second control states based on the input state of the execution command signal. When one control state of the first and second control states is being executed and when execution of the other control state is commanded, the control state switching unit switches the control state such that the other control state is executed.

Vehicle control device

Even when a control mode is switched, hands-off driving handling processing can be appropriately carried out. A hands-off determination unit is configured to start measurement of a no-operation state continuation period when a no-operation state in which a driver is estimated not to be operating a steering wheel is detected, and to determine that the driver is carrying out hands-off driving when the no-operation state continuation period is more than a hands-off driving determination period. The hands-off determination unit is configured to take over, when the control mode is switched under a state in which the measurement of the no-operation state continuation period has been started, a value of the no-operation state continuation period that has been measured until the switching of the control mode, thereby continuing the measurement of the no-operation state continuation period.

Driving support apparatus for vehicle

A lane departure prevention apparatus according to an embodiment includes a torque control section that outputs a torque control signal indicating to make an actuator generate automatic steering torque for preventing a vehicle from departing from a lane in which the vehicle is running; a driver steering torque detection section that detects driver steering torque, which is applied to a steering wheel of the vehicle by a driver; and a control stop determination section that determines whether or not the automatic steering torque is made zero by comparing a first cancel threshold value for determining sudden steering operation by the driver and a second cancel threshold value lower than the first cancel threshold value with the driver steering torque detected by the driver steering torque detection section. If the torque control section determines to make the automatic steering torque zero, the torque control section outputs the torque control signal so that the automatic steering torque is made zero with a predetermined torque change pattern. If the driver steering torque is the first cancel threshold value or more, the torque control section sets the torque change pattern to a pattern in which the automatic steering torque is promptly made zero. If the driver steering torque is less than the first cancel threshold and is equal to or more than the second cancel threshold, the torque control section sets the torque change pattern to a pattern in which the automatic steering torque is gradually decreased.

Lane departure prevention apparatus

A driving support device for a vehicle includes a hand-off determination unit configured to determine whether or not a specific condition is satisfied, the specific condition being a condition that a steering wheel is regarded as not being operated by a driver, a support interruption unit configured to interrupt a lane departure prevention support control when the hand-off determination unit determines that the specific condition is satisfied, a vehicle speed detection unit configured to detect a vehicle speed, and a vehicle speed response processing unit configured to control whether the support interruption unit interrupts the lane departure prevention support control based on the vehicle speed.

Driving support device for vehicle

A lane keeping assist apparatus has a vehicle speed responsive adjustment section which receives a target steering angle and a vehicle speed, sets a vehicle speed adjustment coefficient on the basis of the vehicle speed, multiplies an FF target steering torque by the vehicle speed adjustment coefficient, and outputs the resultant value as an adjusted FF target steering torque. The vehicle speed adjustment coefficient is set to 0 when the vehicle speed is lower than a first set vehicle speed and to 1 when the vehicle speed is higher than a second set vehicle speed. An adding section adds the adjusted FF target steering torque and an FB target steering torque together and outputs the resultant value as a final target steering torque.

Lane keeping assist apparatus

A lane keeping assist apparatus is disclosed which includes a lane detecting part that detects a lane in which a vehicle travels; an actuator that generates a force for changing an orientation of the vehicle; and a controller that operates the actuator such that the vehicle travels within the lane under a situation where a lane keeping assist function is in its ON state, wherein under a situation where the controller is operating the actuator, the controller determines whether an operation amount of the actuator is less than a predetermined first threshold, and prevents an output of operation information if it determines that the operation amount of the actuator is less than the predetermined first threshold, the operation information representing an operated state of the actuator.

A lane keeping assist apparatus is disclosed which includes a lane detecting part; an information output device; an actuator that generates a force for changing an orientation of a vehicle; and a controller that performs a lane keeping assist control based on a positional relationship between the lane and the vehicle, wherein the lane keeping assist control includes an alert control and an intervention control via the actuator, the controller selectively operates in a first mode where the alert control and the intervention control are executable, a second mode where only the intervention control is suppressed or a third mode where the alert control and the intervention control are suppressed, and the controller, during operating in the first mode, performs a mode transition to the second mode when the abnormality determination results indicate an abnormal state concerning only the part related to the intervention control.

A drift-assessment device includes a turn information detection unit that detects turn information of a vehicle, an image recognition and detection unit that detects position information of the vehicle relative to a lane, a vehicle speed detection unit that detects a vehicle speed, a selection unit that selects the image recognition and detection unit when the vehicle speed is equal to or greater than a predetermined vehicle speed and selects the turn information detection unit when the vehicle speed is less than the predetermined vehicle speed, and a drift-assessment unit that determines the drift of the vehicle based on the position information of the vehicle relative to the lane when the selection unit selects the image recognition and detection unit and determines the drift of the vehicle based on the turn information of the vehicle when the selection unit selects the turn information detection unit.

Drift-assessment device

In a driving assistance device, when an execution determination unitdetermines that a driving assistance unitperforms driving assistance, a consciousness degradation determination unitperforms control such that a warning unitis less likely to issue a warning than that when the driving assistance is not performed. Therefore, even when the position of a host vehicle is changed by the steering of the host vehicle by a driving assistance unit, it is possible to reduce the discomfort of a driver due to a warning.

Driving assistance device

A wobble determination deviceappropriately determines the wobble of a vehicle and does not cause inconvenience for a driver. The wobble determination deviceincludes a steering determination unitthat determines whether the driver of a vehicle performs sudden steering after a non-steering state of the driver is maintained for a predetermined period of time and performs sudden return steering over a steering position in the non-steering state in a direction opposite to a direction of the sudden steering after the sudden steering and a wobble determination unitthat determines that the vehicle wobbles when the steering determination unitdetermines that the steering of the driver is the sudden return steering which is performed over the steering position in the non-steering state.

Sway determination device and sway determination method

The low-level consciousness determination system includes curved road determination means for determining whether a road on which the vehicle is traveling is a curved road and determining whether the vehicle is traveling on the outside of the curved road or on the inside of the curved road when the road is the curved road, threshold value setting means for setting different sudden steering determination threshold values when the curved road determination means determines that the road is not the curved road, when the curved road determination means determines that the vehicle is traveling on the outside of the curved road, and when the curved road determination means determines that the vehicle is traveling on the inside of the curved road, and sudden steering detection means for detecting the sudden steering on the basis of the threshold values set by the threshold value setting means after the non-steering state is detected.

Low-level consciousness determination system

The present invention aims at providing a steering assistance apparatus which can accurately detect a curve exit of a running path and perform steering assistance control with an excellent running path following capability. The steering assistance apparatus of the present invention is a steering assistance apparatusfor providing a steering mechanism with a steering torque such that a vehicle runs along a running path according to an image capturing the running path in front of the vehicle, which estimates a curve direction of the running path by processing the image, estimates a steering direction of a driver of the vehicle according to a steering operation of the driver, and determines that the vehicle is running through a curve exit according to a fact that the estimated curve direction and steering direction do not coincide with each other. This makes it possible to determine the curve exit of the running path accurately and perform appropriate steering assistance control.

Growing community of inventors

Toyota, Japan

Yuji Okuda