Abstract: A device for controlling an automatic steering system of a vehicle includes a signal input which receives a setpoint travel direction variable, a memory device on which a correction factor is stored, a control unit which ascertains a corrected setpoint travel direction variable on the basis of the correction factor and the predefined setpoint travel direction variable, and an evaluation device which compares an actual travel direction variable ascertained by a sensor of the vehicle to the predefined setpoint travel direction variable, and if the actual travel direction variable deviates from the predefined setpoint travel direction variable by at least a minimum difference, redefines the correction factor according to the comparison.

Abstract: A parallel parking assistant system integrated with a vehicle and method thereof are provided, the parking assistant system including a first sensor configured to determine a first distance, a second sensor configured to determine a second distance, and a controller configured to provide commands as a function of the first and second determined distances. The commands include a first command configured to command a steering system to be in a clockwise position while the vehicle is moving in a reverse direction for a first reversing distance, a second command configured to command the steering system to be in a substantially straight position while the vehicle is moving in a reverse direction for a second reversing distance, and a third command configured to command the steering system to be in a counter-clockwise position while the vehicle is a moving in a reverse direction for a third reversing distance.

Abstract: A discriminator identifies windrow pixels associated with a windrow within a collected image. A definer defines a search space with respect to a vehicle. An evaluator determines respective spatial correlations between the defined search space and the windrow pixels for different angular displacements of the search space. An alignment detector or search engine determining a desired vehicular heading as a preferential angular displacement associated with a generally maximum spatial correlation between the defined search space and the windrow pixels. An offset calculator estimates an offset of the vehicle to a central point of the windrow or a depth axis to achieve the desired vehicle heading and desired position of the vehicle with respect to the windrow.

Abstract: A vehicle for towing an airplane by receiving thereupon a nose landing gear of the airplane having an airplane longitudinal axis. The vehicle having a vehicle longitudinal axis and is configured to tow the airplane along a straight or curved path and comprises a controller for directing its operation, including maintaining the vehicle's in-phase position in which the vehicle longitudinal axis is parallel to the airplane longitudinal axis.

Abstract: An apparatus and method for monitoring driver fatigue and inattention. A device introduces a controlled disturbance requiring driver compensation into a steering system of a vehicle and monitors for an expected driver compensation in response to the disturbance. When the actual compensation does not sufficiently match the expected compensation the driver is alerted and vehicle functions can automatically be activated or reduced.

Abstract: A travel control method for a self-propelled carriage having a travel control section for controlling steering-driving wheels. In the method, the steering-driving wheels are steered by a predetermined angle based on a direction change command, and in this state, the carriage is moved forward and backward for a predetermined distance to make the carriage depart from a base line. Then, the carriage is steered toward the base line to return to the base line. After that, the carriage is made to be able to travel along the base line.

Abstract: A driving assistance apparatus for a motor vehicle for assistance with driving along narrow roadways is provided. The apparatus includes a data acquisition unit for acquiring route data while driving on a route obtained from wheel and steering angle sensors, a trajectory storage unit for recording the route data, and a triggering unit for triggering the vehicle based on the route data. The apparatus is coupled to a satellite navigation receiver for determining boundary value position data at the time of commencement and/or end of the route. A storage unit stores the boundary value position data for the route data. An approach checking unit checks whether the vehicle is approaching the commencement or end of the route based on the boundary value position data and generates a position approach signal if the motor vehicle is approaching the commencement or end of the route.

Abstract: A method and a device for driver assistance in which the warning threshold at which the driver is warned for example of a departure from the lane is adaptively adjusted as a function of the driver's state and/or the driving situation.

Abstract: When the steered wheels are driven, there is a problem of the torque steering that the steering is disturbed by the difference in the driving forces between a pair of left and right steered wheels. Before such a problem, there is a problem that, since the vehicle is apt to run straight ahead more strongly as the driving force increases even when a uniform driving torque is given to a pair of steered wheels, a larger force is required to steer the vehicle leftward or rightward by overcoming such a tendency of running straight ahead. In view of the above, the steering assist force is increased according to an increase of the driving torque of the steered wheels in a manner of harmonizing the steering assist force to the magnitude of the steering resistance due to the driving torque of the steered wheels, so as to improve the steering feeling.

Abstract: Embodiments herein relate to an arrangement and method for improving the performance of a safety-critical vehicle actuator, in particular a safety-critical vehicle actuator powered directly or indirectly from a vehicle electrical system. The safety-critical vehicle actuator is arranged to, upon activation thereof, signal to an alternator of the vehicle to output a raised voltage for a pre-determined time period.

Abstract: The present invention relates to removal of excavated rock material in mine and underground as well as surface excavation, and particularly to transport equipment suitable for transporting excavated rock material. The transport equipment suitable for transporting excavated rock material according to the invention comprises a trailer connectable to a body of the transport equipment by a fastening articulation, the trailer comprising a body of the trailer, a transport box of the trailer, and a plurality of wheels of which at least two are arranged to be steerable wheels.

Abstract: A parking assist apparatus for guiding a vehicle to a target parking position includes an initial position guiding unit configured to generate an initial position guiding path at a predetermined timing, the initial position guiding path leading from a current position of the vehicle to an initial position where vehicle guidance to the target parking position is started. The initial position guiding unit is also configured to guide the vehicle along the initial position guiding path to the initial position. The apparatus also includes an obstacle detecting unit configured to detect an obstacle around the vehicle. When the obstacle detected by the obstacle detecting unit is located along the initial position guiding path, the initial position guiding unit generates the initial position guiding path such that the obstacle detected by the obstacle detecting unit can be avoided.

Abstract: The invention relates to an insulating device containing a first machine element, in particular an exhaust gas pipe, and at least one second machine element, in particular an exhaust manifold. The insulating device at least partially surrounds the machine element and is connected to the unit. A base plate connected to the unit is provided-having at least two side parts arranged at a distance from each other forming an intermediate area, such that a sliding part is arranged in the intermediate area and is essentially sealingly connected the base plate and to the lateral parts by profiles and is detachably connected in relation to the base plate, a cover can be connected to the base plate by a detachable securing element. The cover rests upon the lower edges on associated areas of the lateral parts of the base plate and/or the sliding part(s).

Abstract: A vehicle control architecture designed based on a top-down approach with abstraction and modularity. The control architecture includes a vehicle/environment sensing and perception processor that processes sensor signals, and motion planning processors that provide lane center trajectory planning and tracking command, lane change trajectory planning and tracking command, and forward and backward speed and target tracking command. The architecture also includes a driver command interpreter that interprets driver commands and a command integration processor that provides reference dynamics for vehicle lateral, roll and longitudinal dynamics. The architecture also includes a control integration and supervisory controller that provides control integration and outputs integrated longitudinal force command signals, integrated lateral force command signals, integrated yaw moment command signals and steering torque command signals that are used by a vehicle longitudinal controller and a vehicle lateral controller.

Abstract: A method and apparatus for operating a vehicle under manual or automatic steering mode is disclosed herein. An estimation of an attraction domain of stability is calculated for the vehicle using the vehicle's current position and orientation information relative to a target trajectory. If an unstable estimation of the attraction domain is determined, then the vehicle is operated in manual mode under control of an operator.

Abstract: A parking assist apparatus includes a guidance mode setting portion specifying a forward turning guidance controlling portion to perform a control when determining that a direct guidance control for driving a vehicle rearward to a target parking position without once driving the vehicle forward is unachievable. The forward turning guidance controlling portion includes an auxiliary guidance controlling device generating an auxiliary guidance path and driving the vehicle rearward by an automatic steering along the auxiliary guidance path and a guidance possibility determining device determining whether or not the vehicle is directly guided rearward to the target parking position based on a position and a steering angle of the vehicle while the vehicle is moving forward by a manual steering. The forward turning guidance controlling portion includes a final guidance controlling device guiding the vehicle to the target parking position.

Abstract: A method for controlling an assisted steering maneuver in an electric power steering (EPS) system includes modeling steering dynamics during a torque overlay operation to generate a dynamic steering model (DSM), measuring vehicle operating values, and detecting a driver intervention in the torque overlay operation based on the DSM and the vehicle operating values. The torque overlay operation is overridden when driver intervention is detected, allowing the driver to regain control of the steering maneuver. A vehicle includes a steering wheel, a steering assist mechanism, and an EPS system having an electronic control unit (ECU) adapted to determine a present intent of a driver of the vehicle to interrupt application of the TOC based on a vehicle operating value transmitted by the driver to the steering wheel. The ECU is operable for interrupting the torque overlay operation when the present intent of the driver is determined.

Abstract: A civil engineering machine includes an arrangement for assisting the driver of the machine when reversing which has a calculating unit to determine data which defines at least one trajectory of the civil engineering machine as a function of the position of the front and rear running gear, both as a function of a steering angle and as a function of a mode of steering. The arrangement for assisting the driver of the machine when reversing also has an image detecting unit for detecting an image of the rear part of the civil engineering machine and a display unit for displaying the detected image of the rear part of the civil engineering machine. An image processing unit superimposes a representation of the at least one trajectory on the image of the rear part of the civil engineering machine which is displayed on the display unit.

Abstract: The present invention relates, in general, to a system and method for keeping a vehicle in a lane in consideration of a steering wheel contortion angle, and more particularly, to a system for keeping a vehicle in a lane in consideration of a steering wheel contortion angle, which estimates the path of a vehicle in consideration of a steering wheel contortion angle attributable to the distortion of a steering shaft, thus improving the safety and riding comfort of occupants.

Abstract: In a method and a corresponding device for outputting parking instructions to a driver of a vehicle, the parking process is divided into a multiplicity of sections each having a constant specified steering angle, and there being situated between each two sections a stopping point that is to be approached after a corresponding stop instruction within a stopping path. A respective tolerance band is defined for the stopping path and/or for the steering angle, a corresponding stop instruction, corresponding to a specified stopping path, and/or a corresponding specified steering angle being defined for each section, taking into account the respective tolerance band.

Abstract: A method is provided for determining a vehicle path for autonomously parallel parking a vehicle in a space between a first object and a second object. A distance is remotely sensed between the first object and the second object. A determination is made whether the distance is sufficient to parallel park the vehicle between. A first position to initiate a parallel parking maneuver is determined. A second position within the available parking space corresponding to an end position of the vehicle path is determined. A first arc shaped trajectory of travel is determined between the first position and an intermediate position, and a second arc shaped trajectory of travel is determined between the second position and the intermediate position. The first arc shaped trajectory is complementary to the second arc shaped trajectory for forming a clothoid which provides a smoothed rearward steering maneuver between the first position to the second position.

Abstract: In a method for deactivating a driver assistance system that influences the steering, a driver-independent system steering variable is applied to the steering wheel by the driver assistance system, the value of a driver steering variable applied to the steering wheel by the driver is determined, and the driver assistance system is deactivated dependent on the driver steering variable.

Abstract: A device and a method for reducing unwanted or undesireable excitations at a steering wheel include a sensor system with which unwanted excitation at a steering wheel and/or steering gear can be sensed. A closed-loop control unit is configured to generate an additional steering torque on the basis of the sensed unwanted excitation. A servomotor applies the additional steering torque to the steering gear.

Abstract: A view in front of a vehicle (1) is captured, and the captured imaged is displayed on a display section. At a predetermined stop position (S1), a target parking position (S4) of the vehicle (1) is set based on the captured image. Then, a reverse guidance route (C2) is calculated. The reverse guidance route (C2) is a route located forward of the vehicle (1), in front of the stop position (S1), and lies from a reverse start position (S2), at which the vehicle (1) starts to reverse for parking, up to the target parking position (S4). Based on the captured image, the reverse start position (S2) is set within a predetermined setting area by an instruction of an occupant of the vehicle (1). A forward travel guidance route (C1) from the stop position (S1) to the reverse start position (S2) is calculated, and conditions of movement of the vehicle (1) are detected.

Abstract: Systems and methods for controlling a vehicle steering system are provided. In one exemplary embodiment, the method includes receiving a desired front road wheel angle signal at a controller. The desired front road wheel angle signal is indicative of a desired front road wheel angle of vehicle wheels. The method further includes receiving a parking assist request signal at the controller indicating a parking assist operational mode is desired. The method further includes generating a desired motor torque signal for controlling a power steering motor in the parking assist operational mode utilizing the controller, based on the desired front road wheel angle signal and the parking assist request signal.

Abstract: A parking space is detected by using a range sensor. Distance data in a predetermined period is collected by using the range sensor according to a user's selection and mapping the collected distance data on a coordinates system based on a parking space searching vehicle. The collected distance data are classified into short distance data and long distance data. Parking-available distance data, is calculated. Whether the parking space exists based on the calculated parking-available distance data is checked. The parking space searching vehicle is stopped by controlling an active braking apparatus or recommending a driver to stop the parking space searching vehicle by means of a voice and alarm sounds when it has been checked that the parking space exists.

Abstract: A target position setting device includes a distance meter, an imager, first and second calculating portions, a determination portion, and a setting portion. The distance meter measures a distance to an object around a vehicle. The imager takes an image of an environment around the vehicle. The first calculating portion calculates a first candidate of a target position of the vehicle according to a measuring result of the distance meter. The second calculating portion calculates a second candidate of the target position of the vehicle according to an imaging result of the imager. The determination portion determines whether a relationship between the first candidate and the second candidate meets a given condition. The setting portion sets the target position according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate and the second candidate meets the given condition.

Abstract: A variable gear ratio steering apparatus has a steering operating member, a turning unit to turn a vehicle wheel and a gear ratio varying unit arranged between the steering operating member and the turning unit. The gear ratio varying unit comprises a differential gear mechanism, a gear ratio control motor and a steering torque assistance motor. The differential gear mechanism has a first internally toothed gear coupled to the steering operating member, a second internally toothed gear coupled to an input shaft of the turning unit and arranged coaxially with respect to the first internally toothed gear, at least one inside gear meshing with both the first and second internally toothed gears, and an inside gear support member rotatably supporting the inside gear. The gear ratio control motor is connected to the inside gear support part. The steering torque assistance motor is connected to the second internally toothed gear.

Abstract: Disclosed is an automated system for controlling and operating a vehicle. The system has three primary components: a vehicle, a saddle assembly, and a railway. The saddle is firmly attached to the bottom of the vehicle. The saddle assembly engages and rides along the rail. Sensors ensure that the rail is centered within the saddle. In the event the vehicle loses traction the backbone will maintain vehicle control and stability. The vehicle can change from one roadway to another while always being secured to a railway.

Abstract: Disclosed is a method for assisting the parking of a vehicle. The method includes determining a vehicle position relative to an obstacle. When the relative position meets a first set of criteria, a first torque pulse is delivered to the steering wheel in the first direction to cue an operator of the vehicle to turn the steering wheel in the first direction. When the relative position meets a second set of criteria, a second torque pulse is delivered to the steering wheel in the second direction, opposite to the first direction to cue the operator to turn the steering wheel in the second direction. A system for assisting the parking of a vehicle is also disclosed.

Abstract: A parking assist system for guiding a vehicle under automatic steering control from a predetermined step position via a turning-direction switching position to a parking target position. With this parking assist system, based upon an operation of a steering wheel by a driver at the predetermined stop position, a parking mode and a parking target position corresponding to that parking mode are determined. And, regardless of the amount of the operation of the steering wheel given at the time of the determination of the parking mode, the vehicle is guided with a correction such that a deflection angle of the vehicle relative to the parking target position may be a predetermined deflection angle, at a corrected switching position nearby the switching position.

Abstract: A control system for a vehicle having first and second wheels is provided that includes a differential apparatus adapted to distribute torque between the first and second wheels and a traction controller for controlling operation of the differential apparatus from vehicle launch up to a predetermined vehicle speed. The traction controller is configured to engage the differential apparatus in a first operating state according to at least one vehicle operating parameter indicative of a low traction operating condition and to further control engagement of the differential apparatus in a second vehicle operating state during the low traction operating condition according to a difference between an actual vehicle yaw rate and a predetermined target vehicle yaw rate. The control system also includes a stability controller for controlling engagement of the differential apparatus at or above the predetermined vehicle speed.

Abstract: An auto-seek operating mode for a vehicle adjusts the vehicle in a direction transverse to a vehicle central axis using a vehicle power steering system and using a motor and a battery to advance the vehicle toward a target connector for a utility power grid for charging the battery. If needed, vertical vehicle position adjustments are made using a controllable vehicle suspension system.

Abstract: A device for controlling the driving dynamics of a vehicle senses at least one driving condition variable being representative of a driving condition and has a driving dynamics controller for determining an additional steering angle, according to which a steering motion can be carried out in addition to the steering motion commanded by an operator. The driving dynamics controller (100, 110) has at least two control units (340, 350), which are respectively associated with one driving condition range. It includes a determinator for determining a prevailing driving condition, in which the prevailing driving condition can be established based on the driving condition variable ({dot over (?)}, {dot over (?)}, ay), and in that it includes an activation logic (360) being in connection with the determination means and being adapted to enable a control unit (340, 350), which is associated with the established driving condition range.

Abstract: A parking assist apparatus includes a guidance mode setting portion specifying a forward turning guidance controlling portion to perform a control when determining that a direct guidance control for driving a vehicle rearward to a target parking position without once driving the vehicle forward is unachievable. The forward turning guidance controlling portion includes an auxiliary guidance controlling device generating an auxiliary guidance path and driving the vehicle rearward by an automatic steering along the auxiliary guidance path and a guidance possibility determining device determining whether or not the vehicle is directly guided rearward to the target parking position based on a position and a steering angle of the vehicle while the vehicle is moving forward by a manual steering. The forward turning guidance controlling portion includes a final guidance controlling device guiding the vehicle to the target parking position.

Abstract: A braking and drive force control apparatus for a vehicle whose wheels are separately driven by electric motors. A controller calculates a drive force or a braking force to be applied to each wheel in accordance with the average sprung displacement and average sprung velocity of the vehicle body which are calculated based on sensed sprung acceleration. By adding the calculated drive force or braking force to the drive force at the time of running, at the time of bouncing of the vehicle body, a downwards force can be generated in the vehicle body which is rising, and an upwards force can be generated in the vehicle body which is descending. By applying an upwards or downwards force to each wheel so as to permit upwards and downwards vibration of the wheels, variations in the ground contact load can be suppressed.

Abstract: A vehicle includes a semi-active suspension including suspension dampers controllably adjustable in accordance with electronic stability control commands and ride and handling commands. Vehicle steering response states, turning direction states and vehicle dynamics states are binary coded in respective state variables and suspension control calibrations are binary coded in calibration words. Integrity and security of state variables and calibration words are ensured in efficient binary digit resource allocation schemes.

Abstract: A method for providing enhanced stability, control and management for a prime mover connected to an auxiliary vehicle is disclosed. An auxiliary vehicle is connected to a prime mover with an auxiliary stability enhancing system and an electronic stability enhancing system, including at least one processor with a memory having computer instructions stored thereon. The processor communicates with a plurality of sensors to detect force values and motions values, and communicates with database storage containing specifications and characteristics representing the prime mover and auxiliary vehicle to compare the force and motion values with the specifications to determine if any values exceed known preset threshold values for the prime mover and auxiliary vehicle. A calculated response, and a location for applying the response, is determined by using a computer model of the prime mover and auxiliary vehicle to reduce the detected force or motion value that exceeds the preset threshold value.

Abstract: A view in front of a vehicle (1) is captured, and the captured imaged is displayed on a display section. At a predetermined stop position (S1), a target parking position (S4) of the vehicle (1) is set based on the captured image. Then, a reverse guidance route (C2) is calculated. The reverse guidance route (C2) is a route located forward of the vehicle (1), in front of the stop position (S1), and lies from a reverse start position (S2), at which the vehicle (1) starts to reverse for parking, up to the target parking position (S4). Based on the captured image, the reverse start position (S2) is set within a predetermined setting area by an instruction of an occupant of the vehicle (1). A forward travel guidance route (C1) from the stop position (S1) to the reverse start position (S2) is calculated, and conditions of movement of the vehicle (1) are detected.

Abstract: A steering control apparatus is provided, including a steering wheel, steered wheels, a direction varying actuator to operate the steering control wheels, a steering reaction actuator to apply steering reaction torque to the steering wheel and steering controller. The steered wheels are mechanically disconnected from the steering wheel. The steering controller outputs control commands for controlling the direction varying actuator and the steering reaction actuator.

Abstract: In deviation prevention support ECU 10 in driving operation support system 1, an applied torque by steering torque applier 17 is set based on a vehicle speed of a vehicle. The applied torque is set to increase with increase of the vehicle speed. An upper limit according to the vehicle speed is set for this applied torque. Furthermore, in a Start interval in application of the applied torque, a rate of increasing to reach a maximum is determined according to the maximum of the applied torque. In a close interval, the applied torque is decreased at a rate different from that in the Start interval, and the absolute rate of increasing the torque in the Start interval is set to be larger than the absolute rate of decreasing the torque in the close interval.

Abstract: A vehicle speed V is read (step S1), V is compared with a first threshold Vth1 (step S2), and, when V is not less than Vth1, a warning torque is set smaller with increase in V (step S3). When V is less than Vth1, V is further compared with a second threshold Vth2 (step S4), and when V is less than Vth2, the warning torque is set approximately in proportion to the vehicle speed (step S5); when V is not less than Vth2 and is less than Vth1, the warning torque is set at a predetermined constant value (step S6).

Abstract: A front wheel steering control device improves the handling and stability of a vehicle with respect to the steering wheel angles. The front wheel steering control device includes an input device for obtaining the steering wheel angle and the vehicle velocity, a first computing device for computing a yaw-rate for the vehicle which maintains the vehicle gravity center point sideslip angle at zero based on the steering wheel angle and the vehicle velocity that are obtained by the input device, a second computing device for computing a target front wheel actual steering angle for realizing the yaw-rate calculated by the first computing device, a control device for performing a steering control of the vehicle based on the target front wheel actual steering angle calculated by the second computing device. The ideal determination of the vehicle steering gear ratio and the derivative steering gain are relatively easy.

Abstract: A steering control system comprises a steering component, a turning component, and a backup mechanism for alternately mechanically separating and linking steering and turning components. A steer-by-wire control unit is provided for executing steer-by-wire control of a turning actuator to a turning angle corresponding to a steering condition and control of a steering reaction force actuator for imparting steering reaction force corresponding to the turning condition. A steering assistance control unit is selectively linked to the backup mechanism to executing steering assistance control for at least one of the steering reaction force actuator and the turning actuator. A control switching unit is provided for controlling a shift, under predetermined conditions, between control by the steer-by-wire control unit and control by the steering assistance control unit.

Abstract: A vehicle drive assist system comprises a camera for picking up an image of an area existing in an advancing direction of a vehicle; display means for displaying the image picked up by the camera; steering angle detecting means for detecting a steering angle for steering the vehicle; traveling path predicting means for predicting a traveling path of the vehicle on the basis of the steering angle detected by the steering angle detecting means; and drive assist means for overlaying on the display means drive assist information containing the vehicle predictive traveling path predicted by the traveling path predicting means and guide lines prolonged from the lines defining the width of the vehicle body on the image of the area existing in the vehicle advancing direction.

Abstract: A method and apparatus to move a modular drilling rig in formation wherein the drilling rig includes a plurality of self-propelled modules to facilitate the movement of the rig while all systems are intact and fully operational. The apparatus includes a plurality of wheel assemblies which are steerable to guide the modules during movement. The apparatus also includes a propulsion system for each of the modules to drive each of the modules during movement. A steering control and position feedback system is also provided for determining the relative position of each module with respect to the master module. This control and feedback system provides feedback to the steering control and feedback systems of other modules in order to move the modules in a formation.

Abstract: A brake application speed is compared with a speed threshold value so as to judge whether or not a braking operation being performed is an emergency braking operation. If not the emergency braking operation, an automatic parking mode is held. When the emergency braking operation is in effect, control information related to a state of an automatic parking control then is stored in a control information storage section, and the automatic parking control is cancelled. Thereafter, when a steering operation or a gearshift operation is performed before a cancellation of application of the brake is detected, the process is ended, and the control mode is held in an assist mode. When the application of the brake is cancelled with neither the steering operation nor the gearshift operation performed, the control information is read in so as to resume the automatic parking control.

Abstract: A method for assisting a driver when parking or maneuvering a motor vehicle having at least one driver assistance system and a vehicle safety system is provided. The method includes the steps of detecting the surroundings and calculating a desired path in a calculation model, in which the differences in traveling distance between the individual wheels are monitored and determined by means of the vehicle safety system. The desired path is predicted in a calculation model by means of the differences in traveling distance, and detection of the surroundings is carried out by means of the driver assistance system. Furthermore, a system which is suitable to implement the method is provided.

Abstract: A vehicle steering system includes: a steering actuator that imparts a steering force to a steering mechanism of a vehicle; an automatic steering controller that performs an automatic steering control by controlling the steering actuator; a driving state detector that detects a driving state of the vehicle during the automatic steering control; a threshold value setting unit that variably sets a threshold value for permitting an intervention in the automatic steering control; and an automatic steering intervention unit that intervenes in the automatic steering control based on a threshold value set by the threshold value setting unit.

Abstract: A driving assist apparatus for a vehicle that guides the vehicle to a target position is provided. On the basis of the present direction of the vehicle and the direction of the vehicle at the target position, a basic path that changes the vehicle direction so as to coincide with the target direction of the vehicle at the target position is computed. A path from the present position to the target position is computed by adding a straight-line path to the basic path under a predetermined condition.