Abstract: An object of the present invention is to provide a steering control device and a steering control method that can reduce a driving burden imposed on a driver during low velocity driving. The present invention is provided with an arithmetic logic unit that changes a steering angle of a wheel 11 by driving a wheel steering actuator 7 based on a manipulated variable of a steering 3, and calculates a controlled variable of the wheel steering actuator 7. In turning the steering 3, the arithmetic logic unit controls the wheel steering actuator 7 based on a first gain at which a ratio of an actual steering angle of the wheel 11 changes with respect to a steering angle ?, and in returning the steering 3, the arithmetic logic unit controls the wheel steering actuator 7 based on a second gain that differs from the first gain.

Abstract: The present disclosure provides a behavior assistance device which improves the autonomy and skill level of a person in question and assists in the behavior of the person in question, so as to prevent a degradation in overall efficiency even when the assistance for the behavior of the person in question is no longer available. A behavior assistance device, which assists in the behavior of a person in question according to the surrounding environment of the person in question, comprises a learning unit, a prediction unit, and a behavior assistance unit. The learning unit learns environmental information pertaining to the environment and behavioral information pertaining to the behavior of the person in question for the environment, and generates a behavior model of the person in question. The prediction unit generates a prediction behavior of the person in question on the basis of the behavior model and the environmental information.

Abstract: The present disclosure provides a steering control device capable of transmitting an appropriate reaction force by a driver via a steering wheel and improving the stability of a vehicle. Provided is a steering control device 100 for controlling a reaction force actuator 16 that generates a reaction force against an operation of a driver in a steering wheel 13 of a vehicle 10. The steering control device 100 increases the reaction force in a nonlinear region where a cornering force characteristic that is the relationship between the slip angle and the lateral force of tires 11 of the vehicle 10 becomes nonlinear, more than the reaction force in a linear region where the cornering force characteristic becomes linear.

Abstract: The purpose of the present invention is to provide a vehicle control system that can achieve highly comfortable autonomous driving according to the behavior of an occupant by changing a control mode of the autonomous driving according to the behavior of the occupant.

Abstract: Provided is a mobile body control system capable of improving both the comfort of passengers in each mobile body and the efficiency of cargo transport when a plurality of mobile bodies travel in a formation. A mobile body control system (1) causes a plurality of mobile bodies (21) to travel in a formation along a preset travel route, and comprises a preceding/succeeding acceleration calculation unit (S49) that calculates a preceding/succeeding acceleration of a preceding mobile body (21_n) and a succeeding mobile body (21_n+1) on the travel route. The preceding/succeeding acceleration calculation unit adjusts a gain E of an arithmetic expression used to calculate the preceding/succeeding acceleration on the basis of information about a transported object being transported by each mobile body (21).

Abstract: The present disclosure provides a vehicle coordinating device capable of improving the accuracy of following a target path of a vehicle. A vehicle coordinating device 1 that coordinates automatic driving of a vehicle 2 by a vehicle control device 21 mounted on the vehicle 2 includes a communication unit 11, a vehicle characteristic identification unit 12, and an identification accuracy estimation unit 13. The communication unit 11 is communicably connected to the vehicle control device 21. The vehicle characteristic identification unit 12 acquires a control command value of the automatic driving and a traveling locus of the vehicle 2 from the vehicle control device 21 via the communication unit 11, and identifies the vehicle characteristic used for the automatic driving. The identification accuracy estimation unit 13 estimates the identification accuracy of the vehicle characteristic by the vehicle characteristic identification unit 12.

Abstract: A steering control device for reducing a steering load on the driver by adjusting a gain of a rear wheel steering angle with respect to a front wheel steering angle operated by the driver according to a relative relationship between the vehicle and the parking frame to enable fine steering of the own vehicle near the parking frame when the four-wheel steering vehicle is parked. The steering control device is configured to control a rear wheel steering angle by a rear wheel steering system based on a front wheel steering angle operated by a driver, and includes an arithmetic device configured to reduce an absolute value of a gain of the rear wheel steering angle with respect to the front wheel steering angle as a positional relationship between an own vehicle and a parking frame comes closer when an own vehicle shifts to a parking driving mode.

Abstract: The present invention addresses the problem of efficiently moving a plurality of moving objects under different rule-based control systems without impairing safety. In order to solve this problem, a moving body task estimation unit 501 estimates moving body tasks 541 of a plurality of moving bodies 1 under different rule-based control systems, an optimum route generation unit 503 searches for optimum routes 542 using various combinations of a plurality of pieces of task information, and a common movement route creation unit 504 creates a common movement route 543 for the plurality of moving bodies by overlapping the obtained optimum routes 542.

Abstract: Provided is a steering control device and a steering control method that can suppress the deterioration of the turning responsiveness at the initial stage of steering that may occur in a four-wheel steering vehicle and improve the steering stability when the front and rear wheels of the four-wheel steering vehicle are controlled in the same phase. A steering control device 1 of a vehicle that controls a rear wheel steering angle based on a front wheel steering angle includes a control unit 19 that controls an amount obtained by dividing an integrated value of a change in the rear wheel steering angle in a second steering section where an absolute value of the front wheel steering angle is constant and/or decreases by a time to be larger than an amount obtained by dividing an integrated value of a change in the rear wheel steering angle in a first steering section where the absolute value of the front wheel steering angle increases by a time.

Abstract: The present disclosure provides a steering control device capable of transmitting an appropriate reaction force by a driver via a steering wheel and improving the stability of a vehicle. Provided is a steering control device 100 for controlling a reaction force actuator 16 that generates a reaction force against an operation of a driver in a steering wheel 13 of a vehicle 10. The steering control device 100 increases the reaction force in a nonlinear region where a cornering force characteristic that is the relationship between the slip angle and the lateral force of tires 11 of the vehicle 10 becomes nonlinear, more than the reaction force in a linear region where the cornering force characteristic becomes linear.

Abstract: An object of the present invention is to provide a steering control device and a steering control method that can reduce a driving burden imposed on a driver during low velocity driving. The present invention is provided with an arithmetic logic unit that changes a steering angle of a wheel 11 by driving a wheel steering actuator 7 based on a manipulated variable of a steering 3, and calculates a controlled variable of the wheel steering actuator 7. In turning the steering 3, the arithmetic logic unit controls the wheel steering actuator 7 based on a first gain at which a ratio of an actual steering angle of the wheel 11 changes with respect to a steering angle ?, and in returning the steering 3, the arithmetic logic unit controls the wheel steering actuator 7 based on a second gain that differs from the first gain.

Abstract: Provided is a mobile body control system capable of improving both the comfort of passengers in each mobile body and the efficiency of cargo transport when a plurality of mobile bodies travel in a formation. A mobile body control system (1) causes a plurality of mobile bodies (21) to travel in a formation along a preset travel route, and comprises a preceding/succeeding acceleration calculation unit (S49) that calculates a preceding/succeeding acceleration of a preceding mobile body (21_n) and a succeeding mobile body (21_n+1) on the travel route. The preceding/succeeding acceleration calculation unit adjusts a gain E of an arithmetic expression used to calculate the preceding/succeeding acceleration on the basis of information about a transported object being transported by each mobile body (21).

Abstract: The purpose of the present invention is to provide a vehicle control system that can achieve highly comfortable autonomous driving according to the behavior of an occupant by changing a control mode of the autonomous driving according to the behavior of the occupant.

Abstract: A host lane environment recognition unit acquires an operation of a target vehicle traveling in a host lane and a road environment. An adjacent lane environment recognition unit acquires operation of vehicles traveling in an adjacent lane and a road environment. A lane changeable space determination unit determines whether the host vehicle can change lanes using road environment information of the adjacent lane. A lane change control unit determines whether the target vehicle traveling in the host lane is allowed to change lanes, based on the operation of the target vehicle and the adjacent vehicle traveling in their lanes. The lane change control unit causes the host vehicle to change lanes based on determining whether the host vehicle can change lanes in the adjacent lane by the lane changeable space determination unit and whether or not the target vehicle is allowed to change lanes.

Abstract: A steering control device for reducing a steering load on the driver by adjusting a gain of a rear wheel steering angle with respect to a front wheel steering angle operated by the driver according to a relative relationship between the vehicle and the parking frame to enable fine steering of the own vehicle near the parking frame when the four-wheel steering vehicle is parked. The steering control device is configured to control a rear wheel steering angle by a rear wheel steering system based on a front wheel steering angle operated by a driver, and includes an arithmetic device configured to reduce an absolute value of a gain of the rear wheel steering angle with respect to the front wheel steering angle as a positional relationship between an own vehicle and a parking frame comes closer when an own vehicle shifts to a parking driving mode.

Abstract: Provided is a steering control device and a steering control method that can suppress the deterioration of the turning responsiveness at the initial stage of steering that may occur in a four-wheel steering vehicle and improve the steering stability when the front and rear wheels of the four-wheel steering vehicle are controlled in the same phase. A steering control device 1 of a vehicle that controls a rear wheel steering angle based on a front wheel steering angle includes a control unit 19 that controls an amount obtained by dividing an integrated value of a change in the rear wheel steering angle in a second steering section where an absolute value of the front wheel steering angle is constant and/or decreases by a time to be larger than an amount obtained by dividing an integrated value of a change in the rear wheel steering angle in a first steering section where the absolute value of the front wheel steering angle increases by a time.

Abstract: A host lane environment recognition unit acquires an operation of a target vehicle traveling in a host lane and a road environment. An adjacent lane environment recognition unit acquires operation of vehicles traveling in an adjacent lane and a road environment. A lane changeable space determination unit determines whether the host vehicle can change lanes using road environment information of the adjacent lane. A lane change control unit determines whether the target vehicle traveling in the host lane is allowed to change lanes, based on the operation of the target vehicle and the adjacent vehicle traveling in their lanes. The lane change control unit causes the host vehicle to change lanes based on determining whether the host vehicle can change lanes in the adjacent lane by the lane changeable space determination unit and whether or not the target vehicle is allowed to change lanes.