Abstract: Based on a recognition result of a recognition sensor installed in a mobile body, a mobile body control system calculates a first target path for moving to a destination while avoiding a risk around the mobile body. Further, based on the first target path, the mobile body control system calculates a second target path having higher granularity than the first target path. Then, the mobile body control system controls the mobile body so as to follow the second target path. The mobile body control system determines in which field the mobile body moves, a normal field or a specific field having more risks than the normal field. When the mobile body moves in the specific field, the mobile body control system reduces a frequency of update of the first target path compared with that when the mobile body moves in the normal field.

Abstract: A driving assistance control device includes an active pedal configured to control a driving and braking force of a vehicle, an electronic control unit configured to detect a potential risk area in which an obstacle entering a scheduled traveling route of the vehicle is likely to be present, and determine a reference speed at which contact between the vehicle and the obstacle can be avoided even when the obstacle enters the scheduled traveling route of the vehicle from the detected potential risk area based on a positional relationship between the vehicle and the potential risk area, and a force feedback unit configured to apply an assistance reaction force in a direction in which the amount of manipulation is reduced, to the active pedal when a current speed of the vehicle exceeds the reference speed.

Abstract: A map information provision system includes: a road map information database configured to store road map information; a vehicle position determination unit configured to detect and determine a position of a vehicle on a road; a road map information extraction unit configured to extract the road map information around the vehicle from the road map information database, based on the position of the vehicle; and a waypoint map constructor unit configured to determine positions of waypoints and configure a waypoint map that is made up of the plurality of the waypoints, wherein the waypoint map is supplied to a driving support device for the vehicle or a driving control device for the vehicle and is utilized as map information on the planned driving route.

Abstract: A driving assistance system includes a driving readiness degree estimation unit configured to estimate a driving readiness degree relating to a driving consciousness of the driver based on the travel state of the vehicle or the driving operation of the vehicle by the driver and the traveling environment of the vehicle, a proportional gain calculation unit configured to calculate a proportional gain based on the driving readiness degree and the speed of the vehicle, and an assistance torque calculation unit configured to calculate the assistance torque according to a value obtained by multiplying a difference between the target steering angle and the actual steering angle by the proportional gain. If the speed is constant, the proportional gain calculation unit is configured to calculate the proportional gain as a smaller value as the driving readiness degree becomes lower.

Abstract: A driving assistance system is configured to include: a map database; a vehicle position recognition unit; an external environment recognition unit; a road environment recognition unit; an explicit risk determination unit; a vehicle behavior risk margin calculation unit configured to calculate a vehicle behavior risk margin when it is determined that an explicit risk is present; a road environment risk margin calculation unit configured to calculate a road environment risk margin from the road environment using data in which a risk evaluation value relating to a latent risk accompanying the explicit risk and the road environment are associated with each other in advance, if the explicit risk determination unit determines that the explicit risk is present; and a driving assistance switching unit configured to perform switching whether to perform the driving assistance relating to the latent risk based on the road environment risk margin and the vehicle behavior risk margin.

Abstract: A driving assistance control apparatus of a vehicle includes a blind area detector, a driving operation detector, and an electronic control unit. The blind area detector is configured to detect the presence or absence of a blind area as seen from the vehicle in a traveling direction of the vehicle. The driving operation detector is configured to detect driving operation of the driver. The electronic control unit is configured to perform automatic deceleration control of the vehicle based on detection of the presence of the blind area by the blind area detector. The electronic control unit is configured to start the automatic deceleration control, by referring to the driving operation of the driver after detection of the presence of the blind area by the blind area detector.

Abstract: A map information provision system includes: a road map information database configured to store road map information; a vehicle position determination unit configured to detect and determine a position of a vehicle on a road; a road map information extraction unit configured to extract the road map information around the vehicle from the road map information database, based on the position of the vehicle; and a waypoint map constructor unit configured to determine positions of waypoints and configure a waypoint map that is made up of the plurality of the waypoints, wherein the waypoint map is supplied to a driving support device for the vehicle or a driving control device for the vehicle and is utilized as map information on the planned driving route.

Abstract: A road marking recognition device recognizes a road marking from an image acquired by imaging a road surface of a road on which a vehicle is traveling. The road marking recognition device includes: a storage unit configured to store a plurality of templates each of which corresponds to a corresponding one of plurality of feature portions of a road marking as a recognition target and between which a relative positional relationship is known; and a recognition unit configured to detect a second feature portion corresponding to a second template among the plurality of templates when the first feature portion is detected from the image.

Abstract: A driving assistance system includes a driving readiness degree estimation unit configured to estimate a driving readiness degree relating to a driving consciousness of the driver based on the travel state of the vehicle or the driving operation of the vehicle by the driver and the traveling environment of the vehicle, a proportional gain calculation unit configured to calculate a proportional gain based on the driving readiness degree and the speed of the vehicle, and an assistance torque calculation unit configured to calculate the assistance torque according to a value obtained by multiplying a difference between the target steering angle and the actual steering angle by the proportional gain. If the speed is constant, the proportional gain calculation unit is configured to calculate the proportional gain as a smaller value as the driving readiness degree becomes lower.

Abstract: A driving assistance control device includes an active pedal configured to control a driving and braking force of a vehicle, an electronic control unit configured to detect a potential risk area in which an obstacle entering a scheduled traveling route of the vehicle is likely to be present, and determine a reference speed at which contact between the vehicle and the obstacle can be avoided even when the obstacle enters the scheduled traveling route of the vehicle from the detected potential risk area based on a positional relationship between the vehicle and the potential risk area, and a force feedback unit configured to apply an assistance reaction force in a direction in which the amount of manipulation is reduced, to the active pedal when a current speed of the vehicle exceeds the reference speed.

Abstract: A drive assist apparatus includes an electronic control unit configured to: compute, when an object that causes a blind spot is ahead of a host vehicle, a first reference velocity which is a velocity at which the host vehicle is able to run without colliding with a moving object assumed to be in the blind spot of the object; estimate a degree of risk associated with a road on which the host vehicle is running, based on environment information that indicates a running environment of the host vehicle; and compute a second reference velocity which is determined by correcting the first reference velocity based on the estimated degree of risk.

Abstract: A vehicle control apparatus includes: a storage apparatus configured to store a steering modification point of a vehicle and a vehicle speed target point of the vehicle that are associated with map information; and an electronic control unit configured to: detect a position of the vehicle; detect a travel direction of the vehicle; calculate a lane travel distance, the position of the vehicle, and the travel direction of the vehicle; generate, lane travel map data, a target direction of the vehicle, and a target vehicle speed of the vehicle, on the basis of the map information, the steering modification point, the vehicle speed target point, the position of the vehicle, and the travel direction of the vehicle; and output a control signal to control the vehicle on the basis of the position of the vehicle, the lane travel distance of the vehicle, and the lane travel map data.

Abstract: An apparatus includes a steering assist torque determination unit and a steering assist torque control unit. The steering assist torque determination unit determines a steering assist torque including a first component that is determined on the basis of a deviation between an actual steering angle and a target steering angle for achieving a target path determined irrespective of driver's steering. The steering assist torque control unit controls a steering assist mechanism such that the steering assist torque is applied. The ratio of the magnitude of the first component of the steering assist torque to the deviation between the target steering angle and the actual steering angle is determined on the basis of the magnitude of the deviation between the steering assist torque and the driver's steering torque in a past predetermined period.

Abstract: A road marking recognition device recognizes a road marking from an image acquired by imaging a road surface of a road on which a vehicle is traveling. The road marking recognition device includes: a storage unit configured to store a plurality of templates each of which corresponds to a corresponding one of plurality of feature portions of a road marking as a recognition target and between which a relative positional relationship is known; and a recognition unit configured to detect a second feature portion corresponding to a second template among the plurality of templates when the first feature portion is detected from the image.

Abstract: There is provided a structure in a driving support system of a vehicle equipped with a steering assist mechanism and a torque vectoring mechanism of right and left wheels, the system capable of reducing an occurrence of a driver's sense of incongruity as much as possible also during the operation of a control based on a machine input and reflecting a driver's steering in the control. The inventive device comprises a steering assist torque controller which controls a steering assist torque given by the steering assist mechanism, a right and left braking-driving force difference controller which controls the braking-driving force difference between the right and left wheels given by the torque vectoring mechanism and a control target value determiner which determines the target values of the steering assist torque and braking-driving force difference for driving support control, based on the steering torque by the driver.

Abstract: A driving assistance control apparatus of a vehicle includes a blind area detector, a driving operation detector, and an electronic control unit. The blind area detector is configured to detect the presence or absence of a blind area as seen from the vehicle in a traveling direction of the vehicle. The driving operation detector is configured to detect driving operation of the driver. The electronic control unit is configured to perform automatic deceleration control of the vehicle based on detection of the presence of the blind area by the blind area detector. The electronic control unit is configured to start the automatic deceleration control, by referring to the driving operation of the driver after detection of the presence of the blind area by the blind area detector.

Abstract: A driving assistance control device for a vehicle includes: a moving object detection sensor configured to detect a moving object moving along a roadside in a traveling direction of the vehicle; a driving operation detection sensor configured to detect a driving operation of a driver; an actuator; and an Electronic Control Unit configured to perform automatic steering control of the vehicle by the actuator to avoid the moving object based on a detection result of the moving object, the Electronic Control Unit being configured to start the automatic steering control based on a driving steering of the driver after the moving object is detected.

Abstract: An apparatus as an aspect of the invention acquires a vehicle motion index value, a driving state index value of a driver, a driving characteristic value that is estimated based on the vehicle motion index value and the driving state index value, and a vehicle motion target value and a driving state target value that are determined regardless of the driver's driving. Using these values, the apparatus determines a target value of a steering assist torque and a target value of a difference in braking/driving force between right and left wheels that converge at least one of a difference between the vehicle motion target value and the vehicle motion index value and a difference between the driving state target value and the driving state index value. The apparatus controls the steering assist torque and the difference in braking/driving force between the right and left wheels to their respective target values.

Abstract: In a driving support system of a vehicle, there is provided a structure that, even during operating a control based on a machine input, a driver's sense of incongruity can be reduced as much as possible and/or the steering of the driver be can reflected. The vehicle is equipped with a steering assist mechanism and a braking-driving force distribution mechanism of right and left wheels. In operations of the inventive device, a steering assist torque, applied by the steering assist mechanism, is controlled to a target value determined with reference to a target steering torque to achieve the target route, determined without depending on steering of a driver, and a driver's steering torque; and a braking-driving force difference between the right and left wheels is controlled to a target value based on a steering angle of the driver.

Abstract: An apparatus includes a steering assist torque determination unit and a steering assist torque control unit. The steering assist torque determination unit determines a steering assist torque including a first component that is determined on the basis of a deviation between an actual steering angle and a target steering angle for achieving a target path determined irrespective of driver's steering. The steering assist torque control unit controls a steering assist mechanism such that the steering assist torque is applied. The ratio of the magnitude of the first component of the steering assist torque to the deviation between the target steering angle and the actual steering angle is determined on the basis of the magnitude of the deviation between the steering assist torque and the driver's steering torque in a past predetermined period.