Abstract: A vehicle control apparatus includes an electronic control device that controls an internal combustion engine such that a response delay of the internal combustion engine at the time of acceleration is restrained for a predetermined time period from the time point at which an acceleration demand of a driver of a vehicle is estimated when the acceleration demand is estimated while the vehicle is travelling using a driving force from the internal combustion engine.

Abstract: A vehicle control apparatus is provided with: a controller (i) configured to set first brake fluid pressure associated with wheels on one of left and right sides out of a plurality of wheels to be higher than second brake fluid pressure associated with wheels on the other side in order to turn a vehicle in one direction, and configured (ii) to then increase the second brake fluid pressure by using a fluid pressure difference between the first brake fluid pressure and the second brake fluid pressure, and (iii) to set the first brake fluid pressure to be lower than the second brake fluid pressure while holding the second brake fluid pressure in order to turn the vehicle in another direction, which is different from the one direction.

Abstract: A speed calculating device calculates the speed of an object around a moving body and includes: an image detection unit that captures an image of the surroundings of the moving body and detects the object from the captured image; and a speed calculation unit that calculates the speed of the object, using a moving body speed indicating the speed of the moving body and an image speed, which indicates the speed of the object and is calculated from the image, at a ratio corresponding to a distance from the moving body to the object. The speed calculation unit calculates the speed of the object using the moving body speed and the image speed such that the ratio of the moving body speed increases as the distance to the object increases and the ratio of the image speed increases as the distance to the object decreases.

Abstract: A lane departure prevention apparatus (17) has: a controlling device (172) configured to control a braking device (122) so that prevention yaw moment for preventing a vehicle from departing from a driving lane; and determining device (173) configured to determine whether or not slip ratio of a front wheel is larger than a first threshold value (KSfr) and whether or not slip ratio of a rear wheel is larger than a second threshold value (KSrr), the controlling device is configured to control the braking device so that the braking force applied from the braking device becomes smaller than the braking force for applying the prevention yaw moment, if it is determined that the slip ratio of the front wheel is larger than the first threshold value and/or the slip ratio of the rear wheel is larger than the second threshold value.

Abstract: A driving support apparatus is provided with: a first determinator configured to determine collision possibility of a vehicle; a first controller configured to perform deceleration, on the basis of the collision possibility; a second determinator configured to determine whether or not a driver has an intention to accelerate; a second controller configured to stop the deceleration performed by the first controller, if it is determined that the driver has the intention to accelerate; a third determinator configured to determine whether or not a driving operation by the driver is a predetermined erroneous operation; a third controller configured to suppress acceleration based on the driving operation if it is determined that the driving operation is the predetermined erroneous operation; and a fourth controller configured not to allow the second controller to stop the deceleration if the acceleration is suppressed by the third controller.

Abstract: A vehicle control device includes: a lane departure prevention unit configured to control an execution of a traveling control of preventing a vehicle from departing from a lane; a gripping detection unit configured to detect a state where a steering wheel is gripped; and a collision detection unit configured to detect a state where the vehicle collides an object. In a case where the collision detection unit does not detect a collision during the traveling control, the lane departure prevention unit does not interrupt the traveling control at a time the steering wheel is gripped, and interrupts the traveling control at a time the steering wheel is not gripped. In a case where the collision detection unit detects the collision, the lane departure prevention unit does not interrupt the traveling control at the time the steering wheel is gripped or at the time the steering wheel is not gripped.

Abstract: A driving support apparatus is provided with: a first controller configured to generate a first acceleration request to accelerate a vehicle or a first deceleration request to decelerate the vehicle, on the basis of a predetermined reference speed or an inter-vehicle distance to a preceding vehicle; a second controller configured to generate a second deceleration request to decelerate the vehicle, on the basis of a lap rate between the vehicle and an obstacle that exists ahead of the vehicle; and a regulator configured to compare required deceleration of the first deceleration request and required deceleration of the second deceleration request in magnitude, and to output the deceleration request with higher required deceleration, if both of first deceleration control corresponding to the first deceleration request and second deceleration control corresponding to the second deceleration request are in a condition to be performed.

Abstract: A driving support apparatus is provided with: a first determinator configured to determine collision possibility of a vehicle; a first controller configured to perform deceleration, on the basis of the collision possibility; a second determinator configured to determine whether or not a driver has an intention to accelerate; a second controller configured to stop the deceleration performed by the first controller, if it is determined that the driver has the intention to accelerate; a third determinator configured to determine whether or not a driving operation by the driver is a predetermined erroneous operation; a third controller configured to suppress acceleration based on the driving operation if it is determined that the driving operation is the predetermined erroneous operation; and a fourth controller configured not to allow the second controller to stop the deceleration if the acceleration is suppressed by the third controller.

Abstract: A vehicle control apparatus includes a collision detection unit configured to detect that a vehicle collides against an object outside the vehicle, a brake control unit configured to carry out a post-collision brake control for automatically braking the vehicle when the collision detection unit detects the collision, and a prediction unit configured to predict a yaw generation probability which is a degree of generation of yaw generated to the vehicle when the post-collision brake control is carried out, based on a collision direction and a collision position of the vehicle with respect to the object outside the vehicle, after the collision has been detected by the collision detection unit and before the post-collision brake control is carried out by the brake control unit.

Abstract: A collision avoidance assist device that performs an assist for avoiding a collision between a vehicle and an object includes an object detection unit that detects the object around the vehicle, a time calculation unit that calculates a time to collision between the vehicle and the object based on the detection result of the object detection unit, and an assist control unit that suppresses a release of a braking for avoidance assist as the time to collision decreases when an execution of the collision avoidance assist is controlled based on the time to collision.

Abstract: A collision determination device includes a radar detection unit that detects an object in front of a vehicle by a radar wave, an image detection unit that images in front of the vehicle and detects the object by the imaged image, and a collision determination unit that determines a collision between the vehicle and the object based on a combined target generated using a detection result of the radar detection unit and a detection result of the image detection unit. The collision determination unit performs collision determination with a speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates.

Abstract: A vehicle control device includes: a lane departure prevention unit configured to control an execution of a traveling control of preventing a vehicle from departing from a lane; a gripping detection unit configured to detect a state where a steering wheel is gripped; and a collision detection unit configured to detect a state where the vehicle collides an object. In a case where the collision detection unit does not detect a collision during the traveling control, the lane departure prevention unit does not interrupt the traveling control at a time the steering wheel is gripped, and interrupts the traveling control at a time the steering wheel is not gripped. In a case where the collision detection unit detects the collision, the lane departure prevention unit does not interrupt the traveling control at the time the steering wheel is gripped or at the time the steering wheel is not gripped.

Abstract: A collision avoidance assist device that performs an assist for avoiding a collision between a vehicle and an object includes an object detection unit that detects the object around the vehicle, a time calculation unit that calculates a time to collision between the vehicle and the object based on the detection result of the object detection unit, and an assist control unit that suppresses a release of a braking for avoidance assist as the time to collision decreases when an execution of the collision avoidance assist is controlled based on the time to collision.

Abstract: A speed calculating device calculates the speed of an object around a moving body and includes: an image detection unit that captures an image of the surroundings of the moving body and detects the object from the captured image; and a speed calculation unit that calculates the speed of the object, using a moving body speed indicating the speed of the moving body and an image speed, which indicates the speed of the object and is calculated from the image, at a ratio corresponding to a distance from the moving body to the object. The speed calculation unit calculates the speed of the object using the moving body speed and the image speed such that the ratio of the moving body speed increases as the distance to the object increases and the ratio of the image speed increases as the distance to the object decreases.

Abstract: A collision determination device includes a radar detection unit that detects an object in front of a vehicle by a radar wave, an image detection unit that images in front of the vehicle and detects the object by the imaged image, and a collision determination unit that determines a collision between the vehicle and the object based on a combined target generated using a detection result of the radar detection unit and a detection result of the image detection unit. The collision determination unit performs collision determination with a speed of the object in the traveling direction of the vehicle as zero when the vehicle decelerates.

Abstract: An object detection device includes: a target information acquisition section that acquires information regarding a radar target detected by a radar and information regarding an image target detected by an image acquisition unit; and an object detection section that detects the presence of an object on the basis of whether or not each of a position of the radar target and a position of the image target are within a predetermined range. The object detection section determines whether or not the object is a pedestrian, and expands the predetermined range when it is determined that the object is a pedestrian from that when it is determined that the object is not a pedestrian.

Abstract: Provided is a brake control device that corrects a braking force within a rising period thereof so as to allow an automatic brake device to exert an appropriate braking force regardless of a state of a brake pad, etc. The brake control device is for supporting avoidance of a collision of a vehicle with an obstacle by using an automatic brake control, and includes: a deceleration detector that detects a deceleration of the vehicle; and a controller that controls a braking force of the automatic brake device, based on a change, within a predetermined period, in a degree of deviation between the detected deceleration and a demanded deceleration corresponding to the detected deceleration. The predetermined period is a period included in a rising braking force period starting from when an operation instruction is given to the automatic brake device and ending when the demanded deceleration reaches a predetermined target deceleration.