Abstract: A driving assistance control apparatus comprises a controller configured to perform, as a driving assistance control, a steering assistance control to automatically vary a steering angle of a host vehicle and/or an acceleration assistance control to automatically vary an acceleration of the host vehicle, based on at least a traveling state of the host vehicle. The controller is configured to receive a setting operation input from a driver of the host vehicle; and vary a strength degree of a steering assistance in the steering assistance control in accordance with the setting operation input, and/or vary a strength degree of an acceleration assistance in the acceleration assistance control in accordance with the setting operation input.

Abstract: A running control device for a vehicle comprising a lane information acquisition device and an electronic control unit that performs a running control in which a target steering angle for bringing a lateral position of the vehicle with respect to a lane to a target position is calculated and an automatic steering device is controlled so that a steering angle becomes the target steering angle, and is configured to calculate a lane curvature based on lane information, calculate an estimated lateral acceleration of the vehicle based on the lane curvature, obtain information about a lane cant in front of the vehicle, and calculate an estimated cant lateral acceleration based on the lane cant, and perform no running control when a magnitude of the estimated lateral acceleration of the vehicle which is corrected by subtracting the estimated cant lateral acceleration exceeds a determination reference value.

Abstract: In a drive assist device, a first condition that an inter-vehicle distance between a preceding vehicle and an own vehicle is smaller than a first threshold, a second condition that a speed of the preceding vehicle relative to the own vehicle is lower than a second threshold, a third condition that a speed of an adjacent vehicle that travels on an adjacent lane to the own vehicle is lower than a third threshold, and a fourth condition that an acceleration rate of the adjacent vehicle is lower than a fourth threshold are defined. When at least one of the first condition and the second condition and at least one of the third condition and the fourth condition are satisfied, the drive assist ECU executes acceleration restraint control of a driving device and/or a braking device such that an acceleration rate of the own vehicle is “0” or lower.

Abstract: A vehicle control device for a vehicle capable of autonomous driving and manual driving includes a surroundings information recognition unit configured to acquire, in a direction of travel of the vehicle, left and right lane boundaries of a lane, and recognizes information about surroundings of the vehicle, a notification unit configured to provide a notification of a hands-on request for switching from a hands-off state to a hands-on state, and a control determination unit configured to determine controls for the vehicle according to a result of recognition by the surroundings information recognition unit. The control determination unit is configured to determine the control to continue the hands-off state when the left and right lane boundaries are parallel in the hands-off state, and determine the control to provide a notification of the hands-on request when the left and right lane boundaries are not parallel in the hands-off state.

Abstract: A deceleration support device is applied to a vehicle provided with a steering assist device that requests a driver to perform hands-on when a vehicle speed or a lateral acceleration of the vehicle exceeds a corresponding control reference value in a situation where a steering mode is a hands-off mode, and includes a control unit that calculates a target deceleration based on a traveling situation of the vehicle when the vehicle needs to be decelerated, and decelerates the vehicle based on the target deceleration. The control unit calculates the target deceleration so that neither the vehicle speed nor the lateral acceleration of the vehicle exceeds the corresponding control reference value when the vehicle needs to be decelerated in a situation where the steering mode is the hands-off mode.

Abstract: In a drive assist device, a first condition that an inter-vehicle distance between a preceding vehicle and an own vehicle is smaller than a first threshold, a second condition that a speed of the preceding vehicle relative to the own vehicle is lower than a second threshold, a third condition that a speed of an adjacent vehicle that travels on an adjacent lane to the own vehicle is lower than a third threshold, and a fourth condition that an acceleration rate of the adjacent vehicle is lower than a fourth threshold are defined. When at least one of the first condition and the second condition and at least one of the third condition and the fourth condition are satisfied, the drive assist ECU executes acceleration restraint control of a driving device and/or a braking device such that an acceleration rate of the own vehicle is “0” or lower.

Abstract: A host vehicle position estimation device includes: a detected position recognition unit configured to recognize a detected position of a first target object included in a first recognition range and a detected position of a second target object included in a second recognition range; a host vehicle first position estimation unit configured to estimate a host vehicle first position; a host vehicle second position estimation unit configured to estimate a host vehicle second position; and a deviation determination unit configured to determine that there is a deviation between the detected position of the target object and the information on the position of the target object on the map if a distance between the host vehicle first position and the host vehicle second position is equal to or greater than a deviation threshold value.

Abstract: A vehicle localization system includes: an electronic control unit estimating a vehicle position including a longitudinal position on a map in an extension direction of a road on which the vehicle is traveling and a lateral position on the map in a lateral direction of the road; and a storage device storing a map database including map information. The electronic control unit obtains a vehicle speed and a pitch angle of the vehicle, perceives a measured position of the vehicle on the map based on a measurement result of a positioning device mounted on the vehicle and the vehicle speed, and estimates the longitudinal position from comparison between a rate of change in pitch angle of the vehicle along the road and a rate of change in height on the map along the road, based on the measured position, the map information, and the pitch angle.

Abstract: A vehicle localization system includes: an electronic control unit estimating a vehicle position including a longitudinal position on a map in an extension direction of a road on which the vehicle is traveling and a lateral position on the map in a lateral direction of the road; and a storage device storing a map database including map information. The electronic control unit obtains a vehicle speed and a pitch angle of the vehicle, perceives a measured position of the vehicle on the map based on a measurement result of a positioning device mounted on the vehicle and the vehicle speed, and estimates the longitudinal position from comparison between a rate of change in pitch angle of the vehicle along the road and a rate of change in height on the map along the road, based on the measured position, the map information, and the pitch angle.

Abstract: A host vehicle position estimation device includes: a detected position recognition unit configured to recognize a detected position of a first target object included in a first recognition range and a detected position of a second target object included in a second recognition range; a host vehicle first position estimation unit configured to estimate a host vehicle first position; a host vehicle second position estimation unit configured to estimate a host vehicle second position; and a deviation determination unit configured to determine that there is a deviation between the detected position of the target object and the information on the position of the target object on the map if a distance between the host vehicle first position and the host vehicle second position is equal to or greater than a deviation threshold value.