Abstract: A vehicle (10) includes a VP (120) that carries out vehicle control in accordance with a command from an autonomous driving system (202) and a vehicle control interface (110) that interfaces between the autonomous driving system (202) and the VP (120). A tire turning angle command that requests for a wheel steer angle is transmitted from the autonomous driving system (202) to the VP (120). A signal indicating an estimated wheel angle which is an estimated value of the wheel steer angle is transmitted from the VP (120) to the autonomous driving system (202). The VP (120) steers the vehicle in accordance with the tire turning angle command set based on a wheel estimation angle while the vehicle (10) is in a straight-ahead travel state.

Abstract: The steering control apparatus determines whether or not a deviation degree of a current traveling route of a vehicle with respect to a target traveling route is equal to or more than a predetermined threshold, when steering control is switched from manual steering control to automatic steering control. In the automatic steering control, a command steering angle is calculated so that a difference between a real traveling route of the vehicle and the target traveling route is eliminated. However, when the deviation degree is equal to or more than the predetermined threshold, the steering control apparatus recalculates the command steering angle used in the command steering angle tracking control based on a steering angle at the time of starting the automatic steering control and the command steering angle so that a real steering angle after switching to the automatic steering control changes gradually to the command steering angle.

Abstract: A vehicle includes a steering device, a torque sensor, and an electronic control unit. The steering device includes a rack shaft, a steering shaft, and a turning actuator including an electric motor connected to the rack shaft or the steering shaft via a motion conversion mechanism. The torque sensor is configured to detect a steering torque by a driver, the torque sensor being attached to the steering shaft. The electronic control unit is configured to switch from turning of the wheels by an automatic steering control to turning of the wheels based on at least a steering operation by the driver in a case where a torque detected by the torque sensor exceeds a torque threshold value during execution of the automatic steering control of the wheels. The torque threshold value is changed in accordance with a temperature of the motion conversion mechanism.

Abstract: A vehicle (10) includes a VP (120) that carries out vehicle control in accordance with a command from an autonomous driving system (202) and a vehicle control interface (110) that interfaces between the autonomous driving system (202) and the VP (120). A tire turning angle command that requests for a wheel steer angle is transmitted from the autonomous driving system (202) to the VP (120). A signal indicating an estimated wheel angle which is an estimated value of the wheel steer angle is transmitted from the VP (120) to the autonomous driving system (202). The VP (120) steers the vehicle in accordance with the tire turning angle command set based on a wheel estimation angle while the vehicle (10) is in a straight-ahead travel state.

Abstract: A vehicle includes an ADK attachable to and removable from a vehicle main body, the ADK issuing an instruction for autonomous driving, a VP including a plurality of functional units that perform a plurality of prescribed functions of the vehicle main body, and a VCIB that issues a control instruction to the functional units in accordance with an instruction from the ADK. One of the plurality of functional units is a steering system that steers the vehicle main body. The steering system specifies a limit value of a steering rate in accordance with a prescribed reference and transmits the specified limit value to the ADK through the VCIB. The ADK calculates a target steering angle to satisfy the limit value received from the steering system and transmits an instruction for the calculated steering angle to the steering system through the VCIB.

Abstract: An autonomous driving system mounted on a vehicle determines a target path based on necessary information and performs vehicle travel control such that the vehicle follows the target path. A first coordinate system is a vehicle coordinate system at a first timing when the necessary information is acquired. A second coordinate system is a vehicle coordinate system at a second timing later than the first timing. The autonomous driving system calculates, based on the necessary information acquired at the first timing, a first target path defined in the first coordinate system. Then, the autonomous driving system corrects the first target path to a second target path defined in the second coordinate system by performing coordinate transformation from the first coordinate system to the second coordinate system. The autonomous driving system uses the second target path as the target path to perform the vehicle travel control.

Abstract: A vehicle includes an ADK attachable to and removable from a vehicle main body, the ADK issuing an instruction for autonomous driving, a VP including a plurality of functional units that perform a plurality of prescribed functions of the vehicle main body, and a VCIB that issues a control instruction to the functional units in accordance with an instruction from the ADK. One of the plurality of functional units is a steering system that steers the vehicle main body. The steering system specifies a limit value of a steering rate in accordance with a prescribed reference and transmits the specified limit value to the ADK through the VCIB. The ADK calculates a target steering angle to satisfy the limit value received from the steering system and transmits an instruction for the calculated steering angle to the steering system through the VCIB.

Abstract: A vehicle control system installed on a vehicle includes: an automatic steering control device configured to execute automatic steering control that determines a steering angle command value and controls steering of the vehicle such that an actual steering angle follows the steering angle command value; a stop state detection device configured to detect a stop state where the vehicle is stopped; and an override detection device configured to detect an override operation by a driver of the vehicle. When the override operation is detected in the stop state, the automatic steering control device prohibits variation in the actual steering angle due to the automatic steering control, until the vehicle starts moving.

Abstract: A manager mounted on a vehicle includes one or more processors configured to receive a plurality of kinematic plans from a plurality of advanced driver assistance system applications, arbitrate the kinematic plans, calculate motion request based on an arbitration result of the kinematic plans regardless of presence or absence of failure of a plurality of actuator systems including steering systems, and distribute the motion request to at least one of the actuator systems according to content of the failure of the actuator systems.

Abstract: A vehicle system, including: an on-board device mounted on a vehicle; and a control device configured to control the on-board device such that the vehicle travels in a target traveling state, wherein the control device includes: a predicting portion that predicts a state of the on-board device when the vehicle travels in the target traveling state; and a modifying portion that modifies the target traveling state when the control device determines based on the state of the on-board device predicted by the predicting portion that an operation of the on-board device needs to be limited.

Abstract: An autonomous driving system mounted on a vehicle determines a target path based on necessary information and performs vehicle travel control such that the vehicle follows the target path. A first coordinate system is a vehicle coordinate system at a first timing when the necessary information is acquired. A second coordinate system is a vehicle coordinate system at a second timing later than the first timing. The autonomous driving system calculates, based on the necessary information acquired at the first timing, a first target path defined in the first coordinate system. Then, the autonomous driving system corrects the first target path to a second target path defined in the second coordinate system by performing coordinate transformation from the first coordinate system to the second coordinate system. The autonomous driving system uses the second target path as the target path to perform the vehicle travel control.

Abstract: A vehicle includes an ADK attachable to and removable from a vehicle main body, the ADK issuing an instruction for autonomous driving, a VP including a plurality of functional units that perform a plurality of prescribed functions of the vehicle main body, and a VCIB that issues a control instruction to the functional units in accordance with an instruction from the ADK. One of the plurality of functional units is a steering system that steers the vehicle main body. The steering system specifies a limit value of a steering rate in accordance with a prescribed reference and transmits the specified limit value to the ADK through the VCIB. The ADK calculates a target steering angle to satisfy the limit value received from the steering system and transmits an instruction for the calculated steering angle to the steering system through the VCIB.

Abstract: A vehicle (10) includes a VP (120) that carries out vehicle control in accordance with a command from an autonomous driving system (202) and a vehicle control interface (110) that interfaces between the autonomous driving system (202) and the VP (120). A tire turning angle command that requests for a wheel steer angle is transmitted from the autonomous driving system (202) to the VP (120). A signal indicating an estimated wheel angle which is an estimated value of the wheel steer angle is transmitted from the VP (120) to the autonomous driving system (202). The VP (120) steers the vehicle in accordance with the tire turning angle command set based on a wheel estimation angle while the vehicle (10) is in a straight-ahead travel state.

Abstract: An autonomous driving system mounted on a vehicle determines a target path based on necessary information and performs vehicle travel control such that the vehicle follows the target path. A first coordinate system is a vehicle coordinate system at a first timing when the necessary information is acquired. A second coordinate system is a vehicle coordinate system at a second timing later than the first timing. The autonomous driving system calculates, based on the necessary information acquired at the first timing, a first target path defined in the first coordinate system. Then, the autonomous driving system corrects the first target path to a second target path defined in the second coordinate system by performing coordinate transformation from the first coordinate system to the second coordinate system. The autonomous driving system uses the second target path as the target path to perform the vehicle travel control.

Abstract: An autonomous driving system mounted on a vehicle determines a target path based on necessary information and performs vehicle travel control such that the vehicle follows the target path. A first coordinate system is a vehicle coordinate system at a first timing when the necessary information is acquired. A second coordinate system is a vehicle coordinate system at a second timing later than the first timing. The autonomous driving system calculates, based on the necessary information acquired at the first timing, a first target path defined in the first coordinate system. Then, the autonomous driving system corrects the first target path to a second target path defined in the second coordinate system by performing coordinate transformation from the first coordinate system to the second coordinate system. The autonomous driving system uses the second target path as the target path to perform the vehicle travel control.

Abstract: A controller for a motor includes a first processing circuit and a second processing circuit configured to communicate with each other. The first processing circuit is configured to execute a first operation amount calculation process, an operation process, and an output process. The first operation amount calculation process is a process of calculating a first operation amount. The output process is a process of outputting the first operation amount to the second processing circuit. The second processing circuit is configured to execute a second operation amount calculation process, a first use operation process, a second use operation process, and an elimination process.

Abstract: An autonomous driving system mounted on a vehicle determines a target path based on necessary information and performs vehicle travel control such that the vehicle follows the target path. A first coordinate system is a vehicle coordinate system at a first timing when the necessary information is acquired. A second coordinate system is a vehicle coordinate system at a second timing later than the first timing. The autonomous driving system calculates, based on the necessary information acquired at the first timing, a first target path defined in the first coordinate system. Then, the autonomous driving system corrects the first target path to a second target path defined in the second coordinate system by performing coordinate transformation from the first coordinate system to the second coordinate system. The autonomous driving system uses the second target path as the target path to perform the vehicle travel control.

Abstract: An autonomous driving system mounted on a vehicle determines a target path based on necessary information and performs vehicle travel control such that the vehicle follows the target path. A first coordinate system is a vehicle coordinate system at a first timing when the necessary information is acquired. A second coordinate system is a vehicle coordinate system at a second timing later than the first timing. The autonomous driving system calculates, based on the necessary information acquired at the first timing, a first target path defined in the first coordinate system. Then, the autonomous driving system corrects the first target path to a second target path defined in the second coordinate system by performing coordinate transformation from the first coordinate system to the second coordinate system. The autonomous driving system uses the second target path as the target path to perform the vehicle travel control.

Abstract: A turning mechanism of a vehicle turns a wheel and is coupled to a steering wheel through a steering shaft. A torque sensor detects a torque applied to a first position of the steering shaft, as a sensor-detected torque. An upper friction torque is an absolute value of the sensor-detected torque that is caused by a friction force acting on the steering shaft between the first position and the steering wheel when the steering shaft is rotated. A vehicle control system repeatedly estimates the upper friction torque and variably sets a determination threshold to the estimated upper friction torque or more. The vehicle control system determines whether a driver state is a hands-on state or a hands-off state based on a comparison between the absolute value of the sensor-detected torque and the determination threshold.

Abstract: A driving assistance control system of a vehicle includes a needed information acquisition unit configured to acquire needed information for calculating a target path, a target path deciding unit configured to decide the target path based on the needed information, a vehicle traveling controller configured to perform a path following control for controlling a traveling device of the vehicle such that the vehicle follows the target path, and a system limit identification unit configured to identify a likelihood of reaching a system limit at which the path following control becomes unsuccessful. The system limit identification unit includes a determination model that learns a relationship between a plurality of vehicle feature amounts and the likelihood of reaching the system limit by machine learning in advance, and outputs an identification result of the likelihood of reaching the system limit corresponding to the input vehicle feature amounts using the determination model.