Abstract: A driving mode switching device includes a determination section, a notification section, a detection section, and a control section. The determination section is configured to determine whether a state has occurred in which automatic driving needs to be terminated. The notification section is configured to notify a driver of the instruction for performing a switching operation as a predetermined operation of a vehicle in the case of determining, by the determination section, that the state has occurred in which the automatic driving needs to be terminated. The detection section is configured to detect the switching operation. The control section is configured to switch travelling from automatic driving to manual driving in the case of detecting the switching operation by the detection section.

Abstract: A driving assistance control system of a vehicle includes a needed information acquisition unit configured to acquire needed information for calculating a target path, a target path deciding unit configured to decide the target path based on the needed information, a vehicle traveling controller configured to perform a path following control for controlling a traveling device of the vehicle such that the vehicle follows the target path, and a system limit identification unit configured to identify a likelihood of reaching a system limit at which the path following control becomes unsuccessful. The system limit identification unit includes a determination model that learns a relationship between a plurality of vehicle feature amounts and the likelihood of reaching the system limit by machine learning in advance, and outputs an identification result of the likelihood of reaching the system limit corresponding to the input vehicle feature amounts using the determination model.

Abstract: A forward information acquisition unit acquires a road profile ahead of the own vehicle. A position acquisition unit acquires a current position of the own vehicle. A state acquisition unit acquires a current speed of the own vehicle. A command calculation unit calculates a target speed at each point on a road ahead of the own vehicle, based on the road profile and the current position, and calculates a drive command for driving the own vehicle in the longitudinal direction of the own vehicle, based on the target speed and the current speed. The road profile includes a road gradient. The command calculation unit is configured to adjust the drive command, based on variation in the road gradient and Gzmax that is an acceleration limit limiting acceleration of the own vehicle in the vertical direction.

Abstract: A steering assist apparatus on a vehicle is provided, including a steering drive unit that drives a steering apparatus; a steering control unit that executes an automatic steering mode in which the steering drive unit is controlled such that a turning angle is determined based on at least either a running state of the vehicle or road information to accomplish the determined turning angle; and a transmission ratio determining unit that determines, based on at least either a running state of the vehicle or the road information, a first transmission ratio in the automatic steering mode to be a value different from a second transmission ratio in a manual steering mode in which the steering apparatus operates in accordance with the steering angle inputted via a steering input apparatus.

Abstract: In a vehicle, an amount of change of a turning angle of a turning mechanism to an amount of change of a steering angle of a steering input device is defined as a transfer ratio, the turning mechanism is rotationally driven by a turning drive unit, and a driver's body posture parameter is detected by a body posture parameter detector. An apparatus for steering the vehicle includes a controller that executes an automatic steering mode that determines a target value for the turning angle of the turning mechanism based on a travelling condition of the vehicle and/or information about a road on which the vehicle is travelling, and controls the turning mechanism to adjust the turning angle of the turning mechanism to the target value. A transfer ratio adjuster adjusts the transfer ratio in accordance with the body posture parameter during execution of the automatic steering mode.

Abstract: An override conciliating portion executes processing to conciliate an override request during an execution of automated driving control (i.e., override conciliation processing). In the override conciliation processing, it is determined whether or not there is the override request (step S20). If the determination result of the step S20 is positive, it is determined whether or not a second automated driving mode is selected as an operation mode (step S21). If the determination result of the step S21 is negative, acceptance processing of the override request is executed (step S22). If the determination result of the step S21 is positive, invalidation processing of the override request is executed (step S23).

Abstract: The vehicle controller according to the present disclosure estimates disturbance acting on a vehicle, and performs driving assistance responsive to the disturbance. When reliability of the estimated disturbance is low, the vehicle controller lowers an assistance level of the driving assistance as compared with a case where the reliability is high. Thereby, it is possible to restrain the driving assistance responsive to the disturbance from causing a driver to feel uncomfortable.

Abstract: A vehicle control system includes: a turning device that turns a wheel of a vehicle; a steering sensor that detects a driver's steering operation; and a control device configured to execute automated turning control that controls the turning device to automatically turn the wheel, independently of the driver's steering operation. A modification desire degree represents a degree to which the driver's steering operation modifies vehicle travel caused by the automated turning control. During execution of the automated turning control, the control device calculates the modification desire degree based on a result of detection by the steering sensor. When the modification desire degree exceeds a threshold, the control device executes system suppression processing without terminating the automated turning control. In the system suppression processing, the control device weakens the automated turning control as compared to a case where the modification desire degree is equal to or lower than the threshold.

Abstract: A steering assist apparatus is provided with a steering drive unit driving a steering apparatus, a steering control unit executing an automatic steering mode where a steering drive unit is controlled such that a turning angle is determined based on at least either a running state of the vehicle or road information to produce the determined turning angle, and a target differential angle control unit determining a target differential angle. The target differential angle control unit determines the target differential angle to be close to an automatic steering target differential angle used for the automatic steering mode, when input variation through a steering input apparatus is not detected during a transition period from a manual steering mode where the steering apparatus operates in response to the steering angle inputted through the steering input apparatus to the automatic steering mode or during an elapsed period after completing the transition period.

Abstract: A vehicle control system that executes path-following control includes a controller. The vehicle control system is configured to determine whether or not the path-following control is to be continued based on whether or not a coordinate point with current lateral deviation speed and lateral deviation as an X coordinate and a Y coordinate, respectively, falls within an ellipse to be specified on an X-Y plane with a time as a parameter, a value of a cosine function to be obtained by time-differentiating a function of an allowable limit sine wave on an X axis, and a value of the function of the allowable limit sine wave on a Y axis.

Abstract: A position prediction unit calculates a predicted position which is a position of the vehicle on the map at a certain point of time after the present time based on the map. An assist calculation unit calculates an assist control amount of the steering operation based on the road shape at the predicted position which can be identified from the map. An operation amount acquisition unit acquires an operation amount of the steering. An adjustment unit adjusts the assist control amount according to the operation amount.

Abstract: A steering determination device determines a steering state in which a driver of a vehicle is steering a steering wheel of the vehicle. The device includes a torque recognition unit configured to recognize a steering torque based on a measurement result of a torque sensor provided on a steering shaft, an acceleration recognition unit configured to recognize longitudinal acceleration or lateral acceleration, a threshold value setting unit configured to set a threshold value for the determination of the steering state, based on the longitudinal acceleration or the lateral acceleration, and a steering determination unit configured to determine that the driver is in the steering state if the steering torque is equal to or greater than the threshold value. The threshold value setting unit is configured to set the threshold value such that the threshold value decreases as an absolute value of the longitudinal acceleration or the lateral acceleration decreases.

Abstract: In a steering assistance apparatus mounted in a vehicle, a steering input device and a turning device differentiate at a transmission ratio that is a ratio of an amount of change in the turning angle to an amount of change in the steering angle. A turning device actuator actuates the turning device. A controller executes an automatic steering mode, in which the controller determines the turning angle based on at least one of a travel condition and travel path information of the vehicle and controls the turning device actuator so as to achieve the determined turning angle. If detecting an input variation from the steering input device during execution of the automatic steering mode, the controller changes the transmission ratio to a value less than the transmission ratio in the automatic steering mode and prioritizes a manual steering mode over the automatic steering mode.

Abstract: A motor controller of a steering control apparatus is configured to drive, based on an assist command and a tracking command, a motor to thereby generate assist torque and automatic steering torque. A state determiner of the steering control apparatus is configured to determine at least whether a driver's steering state is a biased steering state or a return steering state in accordance with a first parameter associated with steering torque based on the driver's steering, and a second parameter associated with an angular velocity of the motor. A ratio changer of the steering control apparatus is configured to change a ratio of the assist torque to the automatic steering torque in accordance with a determination result of the state determiner.

Abstract: Provided is a driving support apparatus configured to calculate a torque control amount based on at least a first steering control amount for causing an own vehicle to travel along a target travel line set in a travel lane and a second steering control amount for assisting an operation on a steering wheel by a driver, and drive a motor provided in a steering mechanism based on the torque control amount, the driving support apparatus being further configured to, when a predetermined condition is satisfied, correct the torque control amount.

Abstract: Provided is a vehicle travel support apparatus including: a normal control module configured to execute travel support control; a correction control module configured to execute correction control in addition to the travel support control when a state of the vehicle is brought into an abnormal state during the execution of the travel support control; and a compensation control module configured to, when a finish condition is satisfied during the execution of the correction control, stop both the travel support control and the correction control and execute compensation control.

Abstract: A driving support device for a vehicle includes an assist control unit for generating an assist command for generating an assist torque, a tracking control unit for generating a tracking command for generating an automatic steering torque, an intervention detection unit for detecting an intervention in a tracking process by a steering operation, a tracking limiting unit that limits the tracking process during a detection of the intervention, a steering force correcting unit for generating a correction command for reducing a difference in steering reaction force caused by an operation direction of a driver during the detection of the intervention and a motor driving unit for driving the motor based on the assist command, the tracking command and the correction command.

Abstract: A turning mechanism of a vehicle turns a wheel and is coupled to a steering wheel through a steering shaft. A torque sensor detects a torque applied to a first position of the steering shaft, as a sensor-detected torque. An upper friction torque is an absolute value of the sensor-detected torque that is caused by a friction force acting on the steering shaft between the first position and the steering wheel when the steering shaft is rotated. A vehicle control system repeatedly estimates the upper friction torque and variably sets a determination threshold to the estimated upper friction torque or more. The vehicle control system determines whether a driver state is a hands-on state or a hands-off state based on a comparison between the absolute value of the sensor-detected torque and the determination threshold.

Abstract: A driving support apparatus performing a plurality of driving support includes: a reliability acquiring unit that acquires each reliability of a plurality of detection apparatus, the reliability representing likelihood of a detection result of the detection apparatus; a determination unit that determines whether or not each of the detection apparatus is a high reliability apparatus determined based on a reliability threshold; a correspondence acquiring unit that acquires correspondence information representing a correspondence between combinations of the plurality of detection apparatus including information of whether or not each apparatus is a high reliability apparatus, and types of driving support to be performed; a setting unit that sets a driving support to be performed, based on a result of the determination; an executing unit that executes the driving support to be performed; and an output unit that outputs a command to allow the executing unit to execute the driving support.

Abstract: In a drive assist system, a map data acquiring section acquires at least one of a driver's operation ability and a load of a vehicle. An adjustment section determines an assist control amount as a control parameter of drive assist for the vehicle so that a degree of the driver's operation is increased according to reduction of the driver's operation ability or increasing of the load of the vehicle. An assist control amount calculation section transmits the assist control amount to a steering motor and a notification section so as to execute the drive assist for the vehicle.