Abstract: In the invention, in automatic parking, a route from a parking start position to a target parking position is calculated prior to the start of parking. However, there are cases where an external environment recognition device cannot detect an obstacle at a distant or blind spot. In such a case, smooth parking is hindered when the vehicle is actually automatically parked. In the invention, in Step S1101, the vehicle is virtually moved from a parking start position 1201 in the direction of a turning position, and a turning position 1206 is calculated on a parking route 1205. In Step S1103, a preliminary route to a target parking position 1207 when the vehicle is turned back at the turning position 1206 is calculated. In the next Step S1104, it is determined whether the preliminary route can be generated, and when the preliminary route satisfies a predetermined condition, the route calculated by a candidate route calculation unit 501 is adopted as an automatic parking route.

Abstract: Provided is a parking assistance device capable of reducing inconvenience felt by a driver experienced in automatic parking control during parking at a target vehicle speed corrected to a lower speed at a start of use of automatic parking control, for example. The parking assistance device controls a vehicle speed of the vehicle during parking to assist parking of the vehicle. The parking assistance device increases the vehicle speed of the vehicle during parking in accordance with a behavior during parking or from previous parking of the vehicle.

Abstract: An automatic parking control device is capable of causing a vehicle to correctly reach the next frame without relying on normal parking route regeneration when a determination is made that the vehicle cannot reach the next frame under automatic parking vehicle control along a section route constituting a part of a parking route. When a determination is made whether the next frame is located on an extension of the current section route and the determination result shows that the next frame is located on the extension, the host vehicle travels further. When the determination is made whether the next frame is located on a remaining section of the current section route and the determination result shows that the next frame is located on the remaining section, the host vehicle decelerates earlier, thereby allowing the host vehicle to reach and come to a stop at the next frame.

Abstract: Provided is a knocking detection apparatus capable of reducing erroneous determination of knocking during transition, and improving knocking detection accuracy regardless of whether an engine is in steady operation or transient operation. A knocking detection apparatus according to the present invention estimates a background level based on an operating state of an internal combustion engine, and calculates a knocking determination index by using the estimated value.

Abstract: Provided is a vehicle control device capable of improving the riding comfort of a vehicle during parking control. A vehicle control device 10 includes: a distance measuring unit 14 that measures a distance between a position of a vehicle and a target stop position of the vehicle; and an acceleration setting unit 15 that sets an acceleration profile, which is a time change of a target value of acceleration during deceleration of the vehicle, according to the distance based on a jerk profile 15a, which is a time change of a target value of jerk during deceleration of the vehicle.

Abstract: Provided is a knocking detection apparatus capable of reducing erroneous determination of knocking during transition, and improving knocking detection accuracy regardless of whether an engine is in steady operation or transient operation. A knocking detection apparatus according to the present invention estimates a background level based on an operating state of an internal combustion engine, and calculates a knocking determination index by using the estimated value.

Abstract: There is proposed a gearshift control device which can reduce a transmission load due to preshift, and improve fuel efficiency of a vehicle. A gearshift control device which controls a transmission 50 including two systems of power transmission mechanisms, and preshifts the transmission 50 based on a traveling plan during automatic driving of a vehicle. The gearshift control device makes automatic driving preshift execution decision of planning control contents of the transmission 50 based on the traveling plan, and preshift execution decision of deciding whether or not to preshift the transmission based on a control plan of the transmission 50.

Abstract: Provided is a vehicle control device capable of quickly obtaining a route for reaching a target parking position re-recognized during automatic parking control. The vehicle control device includes: a connection route generation unit 33 which generates a target route 47 for moving a vehicle 1 from a parking start position 41 to a target parking position 44a of a target parking frame 44, and generates a connection route 48 for moving the vehicle to the target parking position of the target parking frame re-recognized by a recognition unit 31 while the vehicle moves along the target route from the position of the vehicle; and a mode switching unit which switches from a first mode in which the vehicle 1 moves along the target route 47 to a second mode in which the vehicle 1 moves along the connection route 48, on condition that the connection route 48 is generated.

Abstract: There is a problem that it takes a long time to park a vehicle because the vehicle has to be returned to a position outside the parking frame and parked. In step S160, the correction judgment unit 142 judges from the necessary correction amounts calculated in steps S140 and S150 and the remaining distance to the re-targeted parking position that is re-recognized, whether or not correction of the parking route with this remaining distance is possible. In a case where it is judged in step S160 that correction with the remaining distance r2 is impossible, the vehicle is stopped in step S171. Even if it is judged in step S160 that the correction is impossible, when the vehicle is moved backward toward the parking frame is parked, the vehicle is obliquely parked in the parking frame and cannot be fit neatly in the parking frame. In step S172, a parking route including a turnabout is regenerated with respect to the re-targeted parking position calculated in step S130 while the stopped state is maintained.

Abstract: When one sensors fails and thus malfunctions during automatic parking of a vehicle, only the other sensor functions. Accordingly, depending on the behavior of the vehicle, the detection characteristics of the other sensor cause degradation in recognition of the vehicle, hindering the automatic parking from being continued. In processing S401, a determination is made whether or not an external recognition device, such as a camera or sonar, malfunctions. In processing S402, based on the determination on malfunction of the external recognition device, a determination is made whether or not to restrict vehicle speed or to restrict a path, with reference to restriction information for parking control. The restriction information for parking control provides information for restricting the vehicle speed in accordance with the malfunction of the camera, and for restricting the path in accordance with the malfunction of the sonar.

Abstract: Unfortunately, even when a new area, which cannot be recognized from the parking start position, is detected in the surrounding area as the vehicle travels on the parking route, the new area cannot be used effectively as the parking route. In step S304, when there is an area for extending the parking route in the newly detected area, the route is determined to be extensible. In step S305, it is determined whether the vehicle can be parked with one turnabout without extending the route, and when it is determined that the vehicle cannot be parked with one turnabout, the process proceeds to step S307 to perform the route extension process. When the posture of the vehicle at the turning point does not exceed a predetermined value in step S306, the process also proceeds to step S307.

Abstract: The present invention enhances estimation accuracy of a travel distance to estimate a position of a host vehicle. A vehicle control device 1 includes front and rear cameras 7 and 8 and a measurement control unit 23. The front and rear cameras 7 and 8 are provided at front and rear of a vehicle 10 to acquire information on an external world. The measurement control unit 23 calculate a travel distance of the vehicle 10 during traveling of the vehicle 10 in a predetermined driving state based on the information of an identical characteristic object 30 acquired by the front camera 7 and the rear camera 8, the rear camera 8 acquiring the information of the identical characteristic object 30 after the front camera 7 acquires the information.

Abstract: The present invention improves fuel efficiency of a vehicle and decreases a noise, by decreasing a margin value of a hydraulic pressure supplied to a hydraulic pressure control target and decreasing the hydraulic pressure supplied to the hydraulic pressure control target, when the vehicle is driven automatically. In a hydraulic pressure control device 1 for a vehicle that controls a line pressure or an operation pressure (hydraulic pressure) supplied to a clutch 40 or a transmission 41 (hydraulic pressure control target) provided in the vehicle, the hydraulic pressure control device 1 includes an operation pressure control unit 10 (hydraulic pressure setting device) that sets margin values ?1 and ?2 of the operation pressure (line pressure) supplied to hydraulic circuits 31 and 31 of the clutch 40 or the transmission 41, on the basis of a predetermined driving plan (refer to FIG. 2) in the case of driving the vehicle automatically.

Abstract: The present invention improves fuel efficiency of a vehicle and decreases a noise, by decreasing a margin value of a hydraulic pressure supplied to a hydraulic pressure control target and decreasing the hydraulic pressure supplied to the hydraulic pressure control target, when the vehicle is driven automatically. In a hydraulic pressure control device 1 for a vehicle that controls a line pressure or an operation pressure (hydraulic pressure) supplied to a clutch 40 or a transmission 41 (hydraulic pressure control target) provided in the vehicle, the hydraulic pressure control device 1 includes an operation pressure control unit 10 (hydraulic pressure setting device) that sets margin values a1 and a2 of the operation pressure (line pressure) supplied to hydraulic circuits 31 and 31 of the clutch 40 or the transmission 41, on the basis of a predetermined driving plan (refer to FIG. 2) in the case of driving the vehicle automatically.

Abstract: The present invention proposes a transmission control device capable of shortening a switching time between forward control and reverse control of a transmission. The present invention relates to a transmission control device that controls a transmission, including: a forward power transmission mechanism configured to move a vehicle forward; and a reverse power transmission mechanism configured to reverse the vehicle. Each of the forward power transmission mechanism and the reverse power transmission mechanism includes a driving-side connector and a driven-side connector.

Abstract: There is proposed a gearshift control device which can reduce a transmission load due to preshift, and improve fuel efficiency of a vehicle. A gearshift control device which controls a transmission 50 including two systems of power transmission mechanisms, and preshifts the transmission 50 based on a traveling plan during automatic driving of a vehicle. The gearshift control device makes automatic driving preshift execution decision of planning control contents of the transmission 50 based on the traveling plan, and preshift execution decision of deciding whether or not to preshift the transmission based on a control plan of the transmission 50.

Abstract: Provided is a parking assistance device capable of reducing inconvenience felt by a driver experienced in automatic parking control during parking at a target vehicle speed corrected to a lower speed at a start of use of automatic parking control, for example. The parking assistance device controls a vehicle speed of the vehicle during parking to assist parking of the vehicle. The parking assistance device increases the vehicle speed of the vehicle during parking in accordance with a behavior during parking or from previous parking of the vehicle.

Abstract: An automatic parking control device is capable of causing a vehicle to correctly reach the next frame without relying on normal parking route regeneration when a determination is made that the vehicle cannot reach the next frame under automatic parking vehicle control along a section route constituting a part of a parking route. When a determination is made whether the next frame is located on an extension of the current section route and the determination result shows that the next frame is located on the extension, the host vehicle travels further. When the determination is made whether the next frame is located on a remaining section of the current section route and the determination result shows that the next frame is located on the remaining section, the host vehicle decelerates earlier, thereby allowing the host vehicle to reach and come to a stop at the next frame.

Abstract: The present invention is to provide a parking control device that can improve driving performance during a parking operation execution period of a hybrid vehicle. The parking control device A1 is a parking control device to control parking of a hybrid vehicle 1, and includes a necessary electric energy calculation unit 11, an electric energy comparison unit 21, and a control unit 31, wherein the control unit 31 continuously performs battery traveling, or the battery traveling and engine travelling, and permits engine charging during a parking operation execution period to execute the parking of the hybrid vehicle 1 in a case where usable electric energy is lower than necessary electric energy, and continuously performs the battery traveling without continuously performing the engine travelling and the engine charging during the parking operation execution period to execute the parking of the hybrid vehicle in a case where the usable electric energy is equal to or higher than the necessary electric energy.

Abstract: The present invention enhances estimation accuracy of a travel distance to estimate a position of a host vehicle. A vehicle control device 1 includes front and rear cameras 7 and 8 and a measurement control unit 23. The front and rear cameras 7 and 8 are provided at front and rear of a vehicle 10 to acquire information on an external world. The measurement control unit 23 calculate a travel distance of the vehicle 10 during traveling of the vehicle 10 in a predetermined driving state based on the information of an identical characteristic object 30 acquired by the front camera 7 and the rear camera 8, the rear camera 8 acquiring the information of the identical characteristic object 30 after the front camera 7 acquires the information.