Abstract: A lane departure suppression device is provided in a car equipped with a steering angle change mechanism that changes a steering angle and with a motor that operates the steering angle change mechanism, and the lane departure suppression device includes: a main control unit that outputs a main control signal after a position of the car reaches a deflection starting position at which deflection of the car is started in order to suppress departure of the car from a lane, the main control signal representing a main control amount for causing the motor to generate an assist torque that changes the steering angle; and a pre-control unit that outputs, until the main control unit outputs the main control signal, a pre-control signal while the position of the car is located closer to a center of the lane than the deflection starting position is, the pre-control signal representing a pre-control amount for causing the motor to generate an assist torque equal to or less than a friction torque of the steering angle chan

Abstract: According to a lane keep assist electronic control unit (LKAECU), a lane recognizer recognizes a driving lane in which the own vehicle is traveling. A target trajectory generator, a first adder, a feedforward steering angle calculator, a feedback steering angle calculator, a second adder, a feedforward torque calculator, a feedback torque calculator, and a third adder calculate demanded torque ?tgt for controlling steering of the own vehicle so that deviation of the vehicle from the driving lane is suppressed. A road surface camber corrector detects a camber estimated angle ?G which is a camber angle of a road surface of the driving lane in which the own vehicle is traveling. The road surface camber corrector detects drift of the own vehicle by calculating a yaw rate difference ??. The road surface camber corrector corrects the demanded torque ?tgt based on the camber estimated angle ?G and the yaw rate difference ??.

Abstract: According to a lane keep assist electronic control unit (LKAECU), a lane recognition section recognizes a driving lane in which the own vehicle is traveling. A target trajectory generation section generates a target trajectory in which the own vehicle travels so that deviation of the own vehicle from the driving lane is suppressed. A feedforward steering angle calculation section, a feedback steering angle calculation section, a first adder, a feedforward torque calculation section, and a feedback torque calculation section calculate a demanded torque ?tgt for controlling steering of the own vehicle so that the own vehicle travels along the target trajectory.

Abstract: A lane departure suppression device is provided in a car equipped with a steering angle change mechanism that changes a steering angle and with a motor that operates the steering angle change mechanism, and the lane departure suppression device includes: a main control unit that outputs a main control signal after a position of the car reaches a deflection starting position at which deflection of the car is started in order to suppress departure of the car from a lane, the main control signal representing a main control amount for causing the motor to generate an assist torque that changes the steering angle; and a pre-control unit that outputs, until the main control unit outputs the main control signal, a pre-control signal while the position of the car is located closer to a center of the lane than the deflection starting position is, the pre-control signal representing a pre-control amount for causing the motor to generate an assist torque equal to or less than a friction torque of the steering angle chan

Abstract: According to a lane keep assist electronic control unit (LKAECU), a lane recognition section recognizes a driving lane in which the own vehicle is traveling. A target trajectory generation section, a first adder, a feedforward steering angle calculation section, a feedback steering angle calculation section, a second adder, a feedforward torque calculation section, a feedback torque calculation section, and a third adder calculate demanded torque ?tgt for controlling steering of the own vehicle so that deviation of the own vehicle from the driving lane is suppressed. A road surface camber correction section detects a camber estimated angle ?G which is an inclination angle of a road surface of the driving lane in which the own vehicle is traveling. The road surface camber correction section detects drift of the own vehicle by calculating a yaw rate difference ??. The road surface camber correction section corrects the demanded torque ?tgt based on the camber estimated angle ?G and the yaw rate difference ??.

Abstract: According to a lane keep assist electronic control unit (LKAECU), a lane recognition section recognizes a driving lane in which the own vehicle is traveling. A target trajectory generation section generates a target trajectory in which the own vehicle travels so that deviation of the own vehicle from the driving lane is suppressed. A feedforward steering angle calculation section, a feedback steering angle calculation section, a first adder, a feedforward torque calculation section, and a feedback torque calculation section calculate a demanded torque ?tgt for controlling steering of the own vehicle so that the own vehicle travels along the target trajectory.

Abstract: A departure prevention support apparatus includes a lane boundary sign recognizing part configured to recognize a lane boundary sign; a departure detecting part configured to detect a departure of the host vehicle from the lane boundary sign; and a target travel line generating part configured to generate a target travel line if the departure detecting part detects the departure, wherein the target travel line includes a first target travel line for reducing the departure, and a second target travel line for modifying a direction of the host vehicle whose departure has been reduced after having traveled along the first target travel line; wherein the target travel line generating part sets one of the first target travel line and the second target travel line such that it is substantially straight, depending on a direction of the departure and a direction of a curvature of the lane boundary sign.

Abstract: A vehicle dynamic control apparatus is designed to control a plurality of controlled objects based on a first parameter associated with a motion of a vehicle in a same direction to fulfill a request value of a second parameter associated with the motion of the vehicle in the same direction and outputted from a control requester. The vehicle dynamic control apparatus includes an availability obtainer configured to obtain an availability of the first parameter of each of the controlled objects, and to output the availability of the first parameter of each of the controlled objects to the control requester.

Abstract: The momentum control apparatus includes: an optimal feedback gain obtaining part for obtaining a plurality of optimal feedback gains used when each of the plurality of actuators is independently actuated to feedback control the momentum of the controlled object; and a feedback gain setting part for extracting a minimum feedback gain out of the plurality of optimal feedback gains obtained by the optimal feedback gain obtaining part as a feedback gain of a control system.

Abstract: A lane departure warning apparatus is mounted to a vehicle, and issues a warning when there is a probability of departure of the vehicle from a traffic lane. The lane departure warning apparatus includes a lane recognizing unit, a departure determining unit, a warning unit, and a warning control unit. The lane recognizing unit recognizes the traffic lane on which the vehicle is traveling. The departure determining unit determines a probability of departure of the vehicle from the traffic lane based on a correlation between the vehicle and the traffic lane recognized by the lane recognizing unit. The warning unit issues a warning to a driver regarding the probability of departure. The warning control unit changes a level of warning issued by the warning unit based on the probability of departure.

Abstract: A vehicle motion control apparatus configured to control a plurality of control objects in a same direction of vehicle motion control to achieve a requested control amount is provided. The vehicle motion control apparatus includes a control object selection unit which is configured to determine priority of the control objects used for the vehicle motion control based on a priority determination condition, to select a control object from among the plurality of control objects. The control object selection unit includes a control object selection timing determination section configured to detect a change in the priority determination condition, and cause the control object selection unit to reselect a control object at a timing of the change detection as a selection timing.

Abstract: A vehicle dynamic control apparatus is designed to control a plurality of controlled objects according to a request value of a first parameter from an application associated with motion of a vehicle in a same direction to fulfill the request value of the first parameter. An availability obtainer obtains an availability corresponding to a controllable range of a second parameter of each of the plurality of controlled objects, the second parameter being associated with motion of the vehicle in the same direction. A selector determines an order of the plurality of controlled objects to be controlled based on the availability of the second parameter of each of the plurality of controlled objects, and selects at least one of the plurality of controlled objects to be controlled in accordance with the determined order.

Abstract: In a vehicle dynamic control platform arranged between a controlled object and an application, an availability obtainer obtains an availability corresponding to a controllable range of a second parameter of the controlled object, and outputs the availability of the second parameter of the controlled object to the application. The application is programmed to output the target value of the first parameter based on the availability of the second parameter of the controlled object. A comparator compares the target value of the first parameter with the availability of the second parameter when the target value of the first parameter is outputted from the application, and determines, based on a result of the comparison, whether to perform dynamic control of the vehicle by controlling the controlled object.

Abstract: A lane departure control system is provided which works to control a lane departure of a vehicle. When the vehicle is expected to unintentionally leave a lane of a road, the system steers the vehicle toward the center of the lane at a first yaw rate. Afterwards, when the vehicle is determined to be traveling toward a virtual line extending parallel to the boundary line, the system directs the vehicle parallel to the virtual line at a second yaw rate. The system keeps an absolute value of the first yaw rate below a first upper limit and also keeps an absolute value of the second yaw rate below a second upper limit that is less than the first upper limit. This provides an improved comfortable ride to a driver of the vehicle when the vehicle is directed parallel to the virtual line.

Abstract: A lane departure control system is provided which works to control a lane departure of a vehicle. The lane departure control system determines a controlled angle between a heading direction and a target direction of the vehicle running in a lane. When the vehicle is expected to unintentionally leave the lane, the system steers the vehicle toward the center of the lane by the controlled angle at at least a first yaw rate in a first angular range and a second yaw rate in a second angular range following the first angular range. Each of the first and second yaw rates is changed at a constant rate. This results in simplified calculation of the schedule of changing the first and second yaw rates.

Abstract: A lane departure control system is provided which steers a vehicle toward the center of a lane of a road at a first yaw rate by a controlled angle when the vehicle is determined to be about to deviate from the lane. Afterwards, when the vehicle is determined to be traveling toward a virtual line defined near a lane boundary, the system steers the vehicle by a correction angle so as to orient the vehicle parallel to the virtual line at a second yaw rate. The system changes the value of the first yaw rate at a first rate within the controlled angle and also changes the value of the second yaw rate at a second rate within the correction angle. An absolute value of the second rate is set smaller than that of the first rate, thereby minimizing an undesirable physical load on a driver of the vehicle.

Abstract: A lateral motion control apparatus for a vehicle includes a control stop determination unit that determines whether or not to stop the control for the control target by the control target control unit based on a steering operation amount inputted by a driver of the vehicle, and a degeneration control amount determination unit that determines a degeneration control amount for the control target such that the control amount for the control target degenerates after the time when the control stop determination unit has determined that the control for the control target is to be stopped. When the control stop determination unit has determined that the control for the control target is to be stopped, the control target control unit controls the control target based on the degeneration control amount determined by the degeneration control amount determination unit.

Abstract: The lateral motion control apparatus calculates lateral motion control amounts for a plurality of control targets that operate cooperatively in order to change the lateral motion amount of the vehicle based on a target value for the lateral motion amount of the vehicle, and control the plurality of control targets based on the calculated lateral motion control amounts. Meanwhile, it is determined whether or not the control of the plurality of control targets is to be stopped. When it has been determined that the control of the plurality of control targets is to be stopped, lateral motion degeneration control amounts are determined for each of the plurality of control targets so that the lateral motion control amounts of the plurality of control targets degenerate starting at that time, and the plurality of control targets are controlled based on the determined lateral motion degeneration control amounts.

Abstract: A lateral motion control apparatus includes a target value obtaining unit, a control amount calculation unit, a steering intent determination unit that determines whether a driver of the vehicle is steering with intent, and a control object control unit that controls the control object so as to control the control object based on the control amount when the driver is not steering with intent, and to stop the control of the control object when the driver is steering with intent. The steering intent determination unit includes a steering operation amount obtaining unit and a threshold value setting unit that sets a threshold value for the steering operation amount based on the target value, and determines whether or not the driver is steering with intent by comparing the magnitude of the steering operation amount with the threshold value.

Abstract: A vehicle movement control apparatus for setting control requirement values for a plurality of control objects controlling movement of a vehicle, if control target values for movement of the vehicle are input, the apparatus includes: a first requirement value setting unit setting a first control requirement value for a first control object; a first estimating unit acquiring a first movement estimated value if the first control object is activated based on the first control requirement value; a calculating unit calculating an estimated delay amount which is a shortage amount generated based on response delay of the first control object; a second requirement value setting unit setting a second control requirement value for a second control object, based on the result of the calculation; and a second estimating unit acquiring a second movement estimated value if the second control object is activated based on the second control requirement value.