Abstract: An exhaust gas purification apparatus includes a first exhaust pipe, a first housing, a second exhaust pipe, and a second housing. The first exhaust pipe is coupled to an engine. The first housing is coupled to a downstream end of the first exhaust pipe and houses a three-way catalyst. The second exhaust pipe is coupled to a downstream end of the first housing. The second housing is coupled to a downstream end of the second exhaust pipe and houses a nitrogen oxide occlusion catalyst. The three-way catalyst comprises a first region and a second region. The second region has a lower oxygen storage capacity than the first region. The first region is located on a center axis of a flow of gas that is to be sent from the first exhaust pipe into the first housing.

Abstract: A vehicle control method for controlling a vehicle using a vehicle control apparatus includes: a sensor configured to detect a state outside a subject vehicle; and a control device. The vehicle control method includes: executing control of recovering a travel trajectory of the subject vehicle to a target trajectory, as ordinary control, by giving a steering amount in a lateral direction with respect to a travel lane of the subject vehicle; using detection data of the sensor to determine whether or not another vehicle is traveling in an adjacent lane to the travel lane of the subject vehicle; and when determining that the other vehicle is traveling in the adjacent lane ahead of the subject vehicle, increasing a response of the steering amount to a higher response than that in the ordinary control, before the subject vehicle passes the other vehicle.

Abstract: A vehicle includes an exhaust passage including an exhaust cleaner, an engine coupled to the exhaust passage, fuel injection valves, and a control device. The fuel injection valves are respectively provided in cylinders of the engine and inject fuel into the cylinders. The control device performs, after main-injection, post-injection control that causes the fuel injection valves to perform post-injection. The control device determines a fuel injection amount for single-time post-injection performed by each fuel injection valve such that the fuel injection amount for the single-time post-injection is greater than a fuel injection amount when the post-injection is performed in every combustion cycle in all the cylinders. The control device performs the post-injection control such that how many times the post-injection is performed is less than how many times the post-injection is performed in a case in which the post-injection is performed in every combustion cycle in all the cylinders.

Abstract: In a parking assistance method of a parking control device which executes parking control with respect to a free parking space surroundings a host vehicle, a first frame line of free parking space in a direction orthogonal to a vehicle width direction and a second frame line which forms a pair with the first frame line are detected, and a parking target is set on a straight line connecting between a point on the first frame line and a point on the second frame line, for example, the parking target is set on the straight line connecting between an end on the first frame line and an end on the second frame line, and parking control is executed so that a position of wheels of the host vehicle is matched with the parking target.

Abstract: A vehicle control method for controlling a vehicle using a vehicle control apparatus includes: a sensor configured to detect a state outside a subject vehicle; and a control device. The vehicle control method includes: executing control of recovering a travel trajectory of the subject vehicle to a target trajectory, as ordinary control, by giving a steering amount in a lateral direction with respect to a travel lane of the subject vehicle; using detection data of the sensor to determine whether or not another vehicle is traveling in an adjacent lane to the travel lane of the subject vehicle; and when determining that the other vehicle is traveling in the adjacent lane ahead of the subject vehicle, increasing a response of the steering amount to a higher response than that in the ordinary control, before the subject vehicle passes the other vehicle.

Abstract: A vehicle includes an exhaust passage including an exhaust cleaner, an engine coupled to the exhaust passage, fuel injection valves, and a control device. The fuel injection valves are respectively provided in cylinders of the engine and inject fuel into the cylinders. The control device performs, after main-injection, post-injection control that causes the fuel injection valves to perform post-injection. The control device determines a fuel injection amount for single-time post-injection performed by each fuel injection valve such that the fuel injection amount for the single-time post-injection is greater than a fuel injection amount when the post-injection is performed in every combustion cycle in all the cylinders. The control device performs the post-injection control such that how many times the post-injection is performed is less than how many times the post-injection is performed in a case in which the post-injection is performed in every combustion cycle in all the cylinders.

Abstract: A vehicle control method for controlling a vehicle using a vehicle control apparatus includes: a sensor configured to detect a state outside a subject vehicle; and a control device. The vehicle control method includes: executing control of recovering a travel trajectory of the subject vehicle to a target trajectory, as ordinary control, by giving a steering amount in a lateral direction with respect to a travel lane of the subject vehicle; using detection data of the sensor to determine whether or not another vehicle is traveling in an adjacent lane to the travel lane of the subject vehicle; and when determining that the other vehicle is traveling in the adjacent lane ahead of the subject vehicle, increasing a response of the steering amount to a higher response than that in the ordinary control, before the subject vehicle passes the other vehicle.

Abstract: A travel control apparatus, when a lane line of the traffic lane that had been being detected is no longer detected, estimates an imaginary lane line based on the position of the lane line detected in the past and controls the travel of the host vehicle such that the host vehicle is at a predetermined position with respect to the imaginary lane line.

Abstract: An engine control device includes an air amount detector, a requested torque acquisitor, a search axis value acquisitor, a storage, and a control target value acquisitor. The air amount detector detects an actual amount of intake air. The requested torque acquisitor acquires a requested torque. In a region of a lean burn region where the actual amount of intake air increases as the requested torque increases, the search axis value acquisitor acquires a value corresponding to the actual amount of intake air. In a region of the of the lean burn region where the actual amount of intake air does not increase as the requested torque increases, the search axis value acquisitor acquires a value corresponding to the requested torque. The control target value acquisitor acquires a control target value of an engine device by searching a device control map using an acquired search axis value.

Abstract: A parking assistance device includes: a surrounding-image generation circuit that generates a surrounding image that is a view of surroundings of a mobile object from above; an image display circuit that displays an assistance image at a position of an empty parking space in the surrounding image, the first assistance image indicating the empty parking space; and a turning determination circuit that determines whether the mobile object is turning. In a case where it is determined by the turning determination circuit that the mobile object is turning, the image display circuit prohibits the assistance image from being displayed.

Abstract: A parking assistance method of a parking assistance device for generating a peripheral image indicating a periphery of a vehicle as viewed from above to detect an unoccupied parking space, and displaying, on the peripheral image, an assistance image indicating that the detected unoccupied parking space is an available parking space, determines whether the vehicle intrudes on the unoccupied parking space. The parking assistance method inhibits the assistance image from being displayed on the unoccupied parking space on which the vehicle is determined to intrude in the peripheral image.

Abstract: A parking assistance device includes: a surrounding-image generation circuit that generates a surrounding image that is a view of surroundings of a mobile object from above; an image display circuit that displays an assistance image at a position of an empty parking space in the surrounding image, the first assistance image indicating the empty parking space; and a turning determination circuit that determines whether the mobile object is turning. In a case where it is determined by the turning determination circuit that the mobile object is turning, the image display circuit prohibits the assistance image from being displayed.

Abstract: In a parking assistance method of a parking control device which executes parking control with respect to a free parking space surroundings a host vehicle, a first frame line of free parking space in a direction orthogonal to a vehicle width direction and a second frame line which forms a pair with the first frame line are detected, and a parking target is set on a straight line connecting between a point on the first frame line and a point on the second frame line, for example, the parking target is set on the straight line connecting between an end on the first frame line and an end on the second frame line, and parking control is executed so that a position of wheels of the host vehicle is matched with the parking target.

Abstract: A parking assistance method of a parking assistance device for generating a peripheral image indicating a periphery of a vehicle as viewed from above to detect an unoccupied parking space, and displaying, on the peripheral image, an assistance image indicating that the detected unoccupied parking space is an available parking space, determines whether the vehicle intrudes on the unoccupied parking space. The parking assistance method inhibits the assistance image from being displayed on the unoccupied parking space on which the vehicle is determined to intrude in the peripheral image.

Abstract: A vehicle control method for controlling a vehicle using a vehicle control apparatus includes: a sensor configured to detect a state outside a subject vehicle; and a control device. The vehicle control method includes: executing control of recovering a travel trajectory of the subject vehicle to a target trajectory, as ordinary control, by giving a steering amount in a lateral direction with respect to a travel lane of the subject vehicle; using detection data of the sensor to determine whether or not another vehicle is traveling in an adjacent lane to the travel lane of the subject vehicle; and when determining that the other vehicle is traveling in the adjacent lane ahead of the subject vehicle, increasing a response of the steering amount to a higher response than that in the ordinary control, before the subject vehicle passes the other vehicle.

Abstract: A parking assistance method of the present invention includes detecting an empty parking space around a moving object, displaying a first assistance image indicating a position of the empty parking space on a surrounding image viewed from above the moving object, and setting a parking target using the displayed first assistance image. The parking assistance method includes: determining whether the detected empty parking space meets a display condition for displaying the first assistance image; and displaying the first assistance image in the empty parking space not meeting the display condition when a currently set mode is an adjustable mode that allows an occupant of the moving object to manually adjust the parking target.

Abstract: A parking assistance method of the present invention includes detecting an empty parking space around a moving object, displaying a first assistance image indicating a position of the empty parking space on a surrounding image viewed from above the moving object, and setting a parking target using the displayed first assistance image. The parking assistance method includes: determining whether the detected empty parking space meets a display condition for displaying the first assistance image; and displaying the first assistance image in the empty parking space not meeting the display condition when a currently set mode is an adjustable mode that allows an occupant of the moving object to manually adjust the parking target.

Abstract: A travel control method controls travel of an own vehicle to locate a lateral position of the own vehicle at a predetermined position with respect to a lane marker of a lane in which the own vehicle is traveling or with respect to a preceding vehicle, and reduces a control amount on travel from when control on the travel of the own vehicle is started until a predetermined time passes to be smaller than a control amount on the travel after the predetermined time has passed.

Abstract: A parking assistance device includes: a sensor-information processing circuit that detects an empty parking space around a host vehicle; a surrounding-image generation circuit that generates a surrounding image that is a view of surroundings of the host vehicle from above; an image display circuit that displays a first assistance image at a position of the empty parking space in the surrounding image, the first assistance image indicating the empty parking space; and a stop determination circuit that determines whether the host vehicle has stopped. In a case where it is determined by the stop determination circuit that the host vehicle has stopped, the image display circuit displays the first assistance image.

Abstract: A travel control method of the present invention includes: recognizing the lane in which the host vehicle is traveling; controlling the travel of the host vehicle such that the host vehicle is situated at a predetermined position relative to a boundary line of the lane; detecting an increase in the lane width of the lane in which the host vehicle is traveling; and, if determining that one of the boundary lines situated to the left and the right of the host vehicle is a dashed line, controlling the travel of the host vehicle based on the dashed boundary line.