Abstract: A vehicle control device includes a vehicle position calculating unit, an obstacle determining unit, a collision possibility determining unit, an avoidance means selecting unit, an avoidance route calculating unit, and a steering control value calculating unit that calculates a steering control value and that outputs the steering control value to a steering actuator control unit. The avoidance route calculating unit calculates a target point for avoiding the obstacle, divides an avoidance section connecting the position of the vehicle to the target point into a plurality of partial sections, calculates a partial avoidance route in each of the partial sections, and calculates the avoidance route made up of the plurality of partial avoidance routes.

Abstract: The present invention provides a driving assist apparatus, a driving assist method, and a driving assist system capable of realizing driving assist in consideration of a delay in a driver's operation regardless of a configuration of a vehicle. A driving assist apparatus includes a standard running route acquisition portion configured to acquire a standard running route calculated based on curve information ahead of a vehicle that is acquired by an external world recognition portion, and an actuator control output portion configured to acquire a standard vehicle motion amount when the vehicle runs the standard running route, calculate an instruction that guides a motion amount of the vehicle toward the standard vehicle motion amount based on the standard vehicle motion amount and a current vehicle motion amount of the vehicle, and output the instruction to an actuator portion configured to provide at least one of a curving force and a braking force to the vehicle.

Abstract: The present invention provides a vehicle control apparatus, a vehicle control method, and a vehicle control system capable of optimizing balance between a target tire lateral force and a target tire longitudinal force. A vehicle control apparatus outputs an instruction for achieving an optimal slip ratio corresponding to a minimum value of a sum of a first difference and a second difference to an actuator regarding braking/driving of a vehicle. The first difference is a difference between a tire lateral force and a target tire lateral force with respect to an arbitrary slip ratio in a correlative relationship between a slip ratio and the tire lateral force of a tire of a wheel portion. The second difference is a difference between a tire longitudinal force and a target tire longitudinal force with respect to the arbitrary slip ratio in a correlative relationship between the slip ratio and the tire longitudinal force.

Abstract: A vehicle motion control apparatus includes a control unit which controls a steering apparatus and a brake apparatus provided in a vehicle. The control unit acquires a normative motion state amount necessary for the vehicle to trace a target traveling path, acquires a target motion state amount necessary for generating a yaw moment to cancel unstable behavior of the vehicle, and acquires a target steering angle for generating a steering angle moment and a target brake force for generating a brake moment, to obtain a necessary yaw moment generated by the vehicle. The control unit outputs a first control command for obtaining the target steering angle to the steering apparatus and outputs a second control command for obtaining the target brake force to the brake apparatus.

Abstract: A driver assistance device, a driver assistance method, and a driver assistance system according to the present invention make it possible to: determine a distribution of a risk of a vehicle departing from a drivable width of a road on which the vehicle travels based on driving environment factors including a road curvature and a friction coefficient of a road surface of a curve approaching the vehicle; calculate an operation variable of an actuator related to a steering operation of the vehicle based on the distribution of the risk; and output the operation variable to the actuator. This enables steering control based on potential risk evaluation made by taking into account a risk that the controllability of the vehicle may decrease when the vehicle travels on a curve.

Abstract: A vehicle control apparatus acquires a first collision risk based on a relative distance and a relative speed between an obstacle ahead of a vehicle and the vehicle, outputs a first control instruction for autonomously applying a braking force to the vehicle based on the first collision risk, acquires a second collision risk into which the first collision risk is updated after the braking force is autonomously applied to the vehicle, outputs a second control instruction for autonomously applying a force regarding steering to the vehicle based on the second collision risk, and outputs a third control instruction for controlling the braking force to be generated on a wheel portion of the vehicle based on the second collision risk after the force regarding the steering is autonomously applied to the vehicle.

Abstract: A vehicle motion control device according to the present invention obtains a translation force for causing the position of a vehicle to trace a target travel path, on the basis of a lateral displacement amount which is an amount of displacement of the vehicle in a lateral direction with respect to a target movement point, obtain a rotational force for correcting an orientation of the vehicle with respect to the target travel path, on the basis of an orientation displacement amount which is an amount of displacement of the vehicle in a yaw direction with respect to the target movement point, weight the translation force and the rotational force on the basis of specifications relating to traveling of the vehicle, and output a control command for achieving a target lateral force obtained by adding up the weighted translation force and the weighted rotational force.

Abstract: In the present invention, a controller includes: a first vehicle behavior signal input portion configured to input a first vehicle behavior signal obtained based on acquired position information on an own vehicle and a speed in a longitudinal direction of the own vehicle; a second vehicle behavior signal input portion configured to input a second vehicle behavior signal detected by a vehicle behavior detection portion; and a motion state estimation portion configured to estimate a first motion state of the own vehicle based on the first vehicle behavior signal and the second vehicle behavior signal.

Abstract: A driver assistance device, a driver assistance method, and a driver assistance system according to the present invention make it possible to: determine a departure risk of a vehicle departing from a drivable width of a road on which the vehicle travels, based on a driving environment ahead of the vehicle; determine, based on the departure risk, actuator operation variable-related information regarding an operation variable of an actuator related to a steering and/or braking/driving operation that causes the vehicle to travel along the target trajectory; and output the actuator operation variable-related information to the actuator. This allows for control that ensures stability of the vehicle and prevents lane departure of the vehicle in a compatible manner.

Abstract: A driver assistance device, a driver assistance method, and a driver assistance system according to the present invention make it possible to: determine a distribution of a risk of a vehicle departing from a drivable width of a road on which the vehicle travels based on driving environment factors including a road curvature and a friction coefficient of a road surface of a curve approaching the vehicle; calculate an operation variable of an actuator related to a steering operation of the vehicle based on the distribution of the risk; and output the operation variable to the actuator. This enables steering control based on potential risk evaluation made by taking into account a risk that the controllability of the vehicle may decrease when the vehicle travels on a curve.

Abstract: The present invention provides a driving assist apparatus, a driving assist method, and a driving assist system capable of realizing driving assist in consideration of a delay in a driver's operation regardless of a configuration of a vehicle. A driving assist apparatus includes a standard running route acquisition portion configured to acquire a standard running route calculated based on curve information ahead of a vehicle that is acquired by an external world recognition portion, and an actuator control output portion configured to acquire a standard vehicle motion amount when the vehicle runs the standard running route, calculate an instruction that guides a motion amount of the vehicle toward the standard vehicle motion amount based on the standard vehicle motion amount and a current vehicle motion amount of the vehicle, and output the instruction to an actuator portion configured to provide at least one of a curving force and a braking force to the vehicle.

Abstract: The present invention provides a vehicle control apparatus, a vehicle control method, and a vehicle control system capable of optimizing balance between a target tire lateral force and a target tire longitudinal force. A vehicle control apparatus outputs an instruction for achieving an optimal slip ratio corresponding to a minimum value of a sum of a first difference and a second difference to an actuator regarding braking/driving of a vehicle. The first difference is a difference between a tire lateral force and a target tire lateral force with respect to an arbitrary slip ratio in a correlative relationship between a slip ratio and the tire lateral force of a tire of a wheel portion. The second difference is a difference between a tire longitudinal force and a target tire longitudinal force with respect to the arbitrary slip ratio in a correlative relationship between the slip ratio and the tire longitudinal force.

Abstract: A vehicle control apparatus including a road wheel speed detecting section, a vehicle body speed detecting section, a slip ratio calculating section configured to calculate slip ratios which are ratios of respective road wheel speeds with respect to vehicle body speed, an anti-skid brake control section configured to control wheel cylinder fluid pressures for respective wheel cylinders such that the slip ratios fall within a predetermined range, a wheel cylinder fluid pressure acquiring section, damping force variable shock absorbers which are disposed between the respective road wheels and the vehicle body and constructed to variably adjust respective damping force characteristics thereof, and a damping force variable shock absorber control section configured to set the damping force characteristics in accordance with the acquired wheel cylinder fluid pressures.

Abstract: A vehicle control apparatus including a road wheel speed detecting section, a vehicle body speed detecting section, a slip ratio calculating section configured to calculate slip ratios which are ratios of respective road wheel speeds with respect to vehicle body speed, an anti-skid brake control section configured to control wheel cylinder fluid pressures for respective wheel cylinders such that the slip ratios fall within a predetermined range, a wheel cylinder fluid pressure acquiring section, damping force variable shock absorbers which are disposed between the respective road wheels and the vehicle body and constructed to variably adjust respective damping force characteristics thereof, and a damping force variable shock absorber control section configured to set the damping force characteristics in accordance with the acquired wheel cylinder fluid pressures.