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 command calculation unit calculates a target speed at each point on a road ahead of the own vehicle, and calculates a drive command for driving the own vehicle in the longitudinal direction of the own vehicle, based on the target speed and a current speed of the own vehicle. When output of the drive command that has been stopped is restarted, the command calculation unit adjusts the drive command, using an acceleration limit limiting acceleration of the own vehicle, or a jerk limit that limits jerk of the own vehicle. An output control unit controls output of the drive command, based on an input from at least one of a driver's operation of the own vehicle, and from another control system of the own vehicle. The output control unit temporarily reduces the value of at least one of the acceleration limit, the jerk limit and the drive command when restarting output of the drive command that was previously stopped.

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 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: An information processing apparatus installed in a vehicle includes a driving control section and a preparation control section. The driving control section executes automated driving of the vehicle. The preparation control section executes, when the automated driving is being executed by the driving control section, preparation control which is control that stops at least a part of the automated driving and makes the driver perform a preparation switching to driving by the driver of the vehicle.

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: In a cruise assist system, a turning angle controller executes at least one of an automatic cruise control task that automatically controls a turning angle of the vehicle, and an assist control task that controls the turning angle of the vehicle in accordance with an occupant's operation of the steering wheel. A holding determiner includes an input detector detecting an occupant's physical input to a steering shaft via a steering wheel based on at least one of a first type physical quantity and second type physical quantities. Each of the first and second physical quantities depends on rotational movement of the steering shaft. The first type physical quantity contains the occupant's physical input, and a disturbance input, which is different therefrom, to the steering shaft. The second type physical quantities have a physical relationship therebetween, which is changed depending on the occupant's physical input.

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: 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: 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 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: A target steering angle calculator calculates, based on a target curvature, a target steering angle representing a steering angle of the vehicle at a target position. A current steering-angle obtainer obtains a current steering angle representing a steering angle of the vehicle at a current position. A steering controller controls the steering of the vehicle to cause the current steering angle to follow the target steering angle. A distance estimator estimates, based on at least one of the environmental information around the vehicle and control information about the vehicle, a visible distance representing a distance visibly recognizable by the driver of the vehicle to a front of the vehicle. The target curvature obtainer uses the visible distance as the target distance to obtain the target curvature at the predetermined target position that has the visible distance away from the current position along the road in the travelling direction.

Abstract: An electric power steering system for a vehicle works to determine an assist command based on steering torque to produce assist torque through an electric motor for assisting in turning a steering wheel of the vehicle, also determines a tracking command for producing automatic steering torque which brings a value of a given physical quantity associated with steering of the vehicle into agreement a target value, and controls a response rate at which a value of a given physical quantity is brought into agreement with a target value in a feedback mode. A motor driver works to actuate an electric motor based on the sum of the assist command and the tracking command to output the torque for steering the system vehicle.

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: A target steering angle calculator calculates, based on a target curvature, a target steering angle representing a steering angle of the vehicle at a target position. A current steering-angle obtainer obtains a current steering angle representing a steering angle of the vehicle at a current position. A steering controller controls the steering of the vehicle to cause the current steering angle to follow the target steering angle. A distance estimator estimates, based on at least one of the environmental information around the vehicle and control information about the vehicle, a visible distance representing a distance visibly recognizable by the driver of the vehicle to a front of the vehicle. The target curvature obtainer uses the visible distance as the target distance to obtain the target curvature at the predetermined target position that has the visible distance away from the current position along the road in the travelling direction.

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: 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: 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.

Abstract: In a control section in a drive assist system, a position prediction section acquires a direction of a road on which an own vehicle drives. A position identification section a drive direction of the own vehicle on the road. An assist control calculation section determines control parameters so that the direction of the road easily matches with the drive direction of the own vehicle. The control parameters represent a degree of steering operation due to the direction of the road.

Abstract: In a drive assist system, a map data acquiring section acquires a forward road shape and a rearward road shape. The forward road shape represents a road shape at a forward position in front of a current position of an own vehicle on a road on which the own vehicle drives. The rearward road shape represents a road shape at a rearward position on the road. The rearward position is behind the forward position and in front of the current position of the own vehicle on the road. An assist control calculation section determines steering characteristics of the own vehicle at the target position located between the forward position and the rearward position based on the forward road shape and the rearward road shape, and adjusts a steering angle of the own vehicle on the basis of the determined steering characteristics of the own vehicle.