Abstract: A trajectory generation device configured to generate a branch trajectory as a trajectory of a first vehicle traveling from a main lane to a branch lane includes a determination unit and an adjustment unit. The determination unit is configured to determine whether a second vehicle different from the first vehicle is present in the branch lane. The adjustment unit is configured to adjust a sharpness of the branch trajectory based. The branch trajectory in a scene where it is determined that the second vehicle is present in the branch lane is a branch following trajectory. The branch trajectory in a scene where it is determined that the second vehicle is not present in the branch lane is a branch release trajectory. The branch release trajectory guides the first vehicle to the branch lane less sharply than the branch following trajectory.

Abstract: A trajectory generation device is configured to generate a future trajectory along which a vehicle travels in a future. The trajectory generation device includes an action plan unit, a trajectory candidate unit, a trajectory evaluation unit, and a trajectory fixing unit. The action plan unit is configured to plan a future action of the vehicle. The trajectory candidate generation unit is configured to generate a trajectory candidate of the future trajectory in accordance with the planned future action. The trajectory evaluation unit is configured to evaluate whether a traveling along the trajectory candidate is permitted. The trajectory fixing unit is configured to fix the trajectory candidate as the future trajectory when it is determined that the traveling along the trajectory candidate is permitted. The action plan unit is configured to plan the future action again when it is determined that the traveling along the trajectory candidate is not permitted.

Abstract: In a manipulation assisting control apparatus, a manipulation assistance controller causes a switch unit to be in an on-state and which executes control of a motor drive circuit to apply an assisting force, in a case where a manipulation target object is moved in a predetermined direction. A first stop controller causes the switch unit to be in an off-state and stops the control of the motor drive circuit, in a case where the manipulation target object moved in the predetermined direction stops at an end position. A second stop controller causes the switch unit to be in the on-state and stops the control of the motor drive circuit, in a case where the manipulation target object moved in the predetermined direction stops at an intermediate position or in a case where the manipulation target object moves in a direction opposite to the predetermined direction.

Abstract: A door opening/closing control device includes: a driving part driving an actuator opening or closing a door; an operation switch operated for instructing opening/closing or stopping of the door; a first controller controlling driving of the actuator via the driving part in accordance with the operation; a manual opening/closing detector detecting that the door is manually opened or closed; and a second controller controlling the driving of the actuator via the driving part to assist a manual operation of opening or closing the door when the manual opening/closing detector detects the manual opening/closing operation. Then, when the second controller controls the driving of the actuator to assist the manual operation of opening or closing the door, even when the operation switch is operated, the first controller does not control the driving of the actuator in accordance with the operation, and the second controller continues to control the driving.

Abstract: A door opening/closing control device includes: a controller controlling driving of an actuator opening or closing a door; a position detector detecting an opening/closing position of the door; a speed calculator calculating an opening/closing speed of the door based on a temporal change in the opening/closing position detected by the position detector; and a target assisting force calculator calculating target assisting force based on the opening/closing position and the opening/closing speed of the door. The controller controls the driving of the actuator to assist an operation of opening or closing the door based on the target assisting force calculated by the target assisting force calculator. Further, the controller controls the driving of the actuator such that the door is fully closed upon judgment that the opening/closing position of the door is in the vicinity of the fully closed position based on the opening/closing position detected by the position detector.

Abstract: In a manipulation assisting control apparatus, a manipulation assistance controller causes a switch unit to be in an on-state and which executes control of a motor drive circuit to apply an assisting force, in a case where a manipulation target object is moved in a predetermined direction. A first stop controller causes the switch unit to be in an off-state and stops the control of the motor drive circuit, in a case where the manipulation target object moved in the predetermined direction stops at an end position. A second stop controller causes the switch unit to be in the on-state and stops the control of the motor drive circuit, in a case where the manipulation target object moved in the predetermined direction stops at an intermediate position or in a case where the manipulation target object moves in a direction opposite to the predetermined direction.

Abstract: An unintentional operation of a door is prevented while the usability of the door is improved. A power back door control device includes: an operation signal acceptor configured to accept an operation signal of a back door opening/closing switch for performing an operation of opening or closing a back door of a vehicle; a controller configured to control opening/closing of the back door via a motor when the operation signal acceptor accepts the operation signal; and a stopping state detector configured to detect whether or not the vehicle is in a stopping state based on information about traveling or stopping of the vehicle acquired by a vehicle-side ECU. When the stopping state detector detects that the vehicle is not in the stopping state, the controller performs fixing control of the back door so as to keep the back door from moving.

Abstract: An opening/closing body control device controls opening or closing of an opening/closing body with an electric motor. The opening/closing body control device includes: a bridge circuit which includes a switching element connected to the electric motor; and a control unit which controls an on or off state of the switching element. The control unit controls the on or off state of the switching element such that the bridge circuit enters a regenerative state in a case where control for fully closing or fully opening the opening/closing body is performed. The control unit controls the on or off state of the switching element such that the bridge circuit does not enter the regenerative state in a case where an operation of the opening/closing body is performed by a person.

Abstract: An unintentional operation of a door is prevented while the usability of the door is improved. A power back door control device includes: an operation signal acceptor configured to accept an operation signal of a back door opening/closing switch for performing an operation of opening or closing a back door of a vehicle; a controller configured to control opening/closing of the back door via a motor when the operation signal acceptor accepts the operation signal; and a stopping state detector configured to detect whether or not the vehicle is in a stopping state based on information about traveling or stopping of the vehicle acquired by a vehicle-side ECU. When the stopping state detector detects that the vehicle is not in the stopping state, the controller performs fixing control of the back door so as to keep the back door from moving.

Abstract: A door opening/closing control device includes: a controller controlling driving of an actuator opening or closing a door; a position detector detecting an opening/closing position of the door; a speed calculator calculating an opening/closing speed of the door based on a temporal change in the opening/closing position detected by the position detector; and a target assisting force calculator calculating target assisting force based on the opening/closing position and the opening/closing speed of the door. The controller controls the driving of the actuator to assist an operation of opening or closing the door based on the target assisting force calculated by the target assisting force calculator. Further, the controller controls the driving of the actuator such that the door is fully closed upon judgment that the opening/closing position of the door is in the vicinity of the fully closed position based on the opening/closing position detected by the position detector.

Abstract: A door opening/closing control device includes: a driving part driving an actuator opening or closing a door; an operation switch operated for instructing opening/closing or stopping of the door; a first controller controlling driving of the actuator via the driving part in accordance with the operation; a manual opening/closing detector detecting that the door is manually opened or closed; and a second controller controlling the driving of the actuator via the driving part to assist a manual operation of opening or closing the door when the manual opening/closing detector detects the manual opening/closing operation. Then, when the second controller controls the driving of the actuator to assist the manual operation of opening or closing the door, even when the operation switch is operated, the first controller does not control the driving of the actuator in accordance with the operation, and the second controller continues to control the driving.