Abstract: A parking assist device capable of parking assistance that ensures high accuracy of a parking location is provided. A parking assist device that assists in performing an operation of parking a vehicle includes a parking-allowing location calculation unit that before the vehicle stops at a parking-allowing location, calculates and updates the parking-allowing location a plurality of times, and a parking route calculation unit that calculates a parking route. The parking route calculation unit sets a minimum turning radius for calculating the parking route, based on the amount of a shift between the parking-allowing location not updated and the parking-allowing location having been updated, and calculates the parking route, using the minimum turning radius. The minimum turning radius is set larger than the minimum value of a turning radius unique to the vehicle.

Abstract: A parking support device is provided which, when calculating a parking route followed by a host vehicle, calculates the parking route based on the reliability of obstacle information acquired by a sensor mounted on the host vehicle, thereby improving the convenience of a driver of the host vehicle. A parking support device 10 includes an obstacle information analysis unit 303 that recognizes an external world from external world information detected by a camera 2 and a sonar 3 that acquire the external world information, and a parking route calculation unit 304 that calculates a parking route of a host vehicle 1 based on information on an obstacle in the external world recognized by the obstacle information analysis unit 303, and the parking route calculation unit 304 sets a distance between the obstacle and the host vehicle 1 in the parking route according to a degree of reliability of information on the obstacle.

Abstract: A steering control device includes a first calculator configured to calculate a first axial force, a second calculator, and a third calculator configured to calculate a third axial force. The third calculator is configured to, when a specific situation occurs in which a current of a turning motor has to be limited, decrease a reflection degree of the first axial force in the third axial force and increase a reflection degree of the second axial force in the third axial force.

Abstract: A vehicle parking control device has a processor and a memory to control the vehicle from a starting to a target parking position. The vehicle control device includes an obstacle detection unit detecting obstacles around the vehicle, a travelable area setting unit setting an area where the vehicle can travel based on a position of the obstacles, and sets the target parking position in the travelable area, a route generation unit calculating a travel route to the target parking position in the travelable area, and a parking execution unit that causes the vehicle to travel toward the target parking position on the basis of the travel route. The route generation unit generates a route from a parking start position to the target parking position, and corrects a distance of the section to a predetermined distance when the distance of the section is less than the predetermined distance.

Abstract: A steer-by-wire steering system for a vehicle, including: an operating device including a steering operating member, a counterforce applying mechanism configured to apply, to the steering operating member, an operation counterforce by a counterforce motor, and an operating controller configured to control the operation counterforce; a steering device including a steering actuator configured to steer a wheel by a steering motor and a steering controller configured to control an amount of steering of the wheel by the steering actuator; and a communication line communicably connecting the operating controller and the steering controller, wherein the steering controller is configured to: determine a status code based on a status of the steering device; and transmit the status code to the operating controller via the communication line; and wherein the operating controller is configured to change a magnitude of the operation counterforce in accordance with the status code received by the operating controller.

Abstract: When one sensors fails and thus malfunctions during automatic parking of a vehicle, only the other sensor functions. Accordingly, depending on the behavior of the vehicle, the detection characteristics of the other sensor cause degradation in recognition of the vehicle, hindering the automatic parking from being continued. In processing S401, a determination is made whether or not an external recognition device, such as a camera or sonar, malfunctions. In processing S402, based on the determination on malfunction of the external recognition device, a determination is made whether or not to restrict vehicle speed or to restrict a path, with reference to restriction information for parking control. The restriction information for parking control provides information for restricting the vehicle speed in accordance with the malfunction of the camera, and for restricting the path in accordance with the malfunction of the sonar.

Abstract: A steering control device includes a control unit configured to control at least an operation of a steering-side motor. The control unit is configured to calculate a target reaction torque; calculate a difference axial force that is used to limit steering for turning the turning wheels in a predetermined direction, the difference axial force being reflected in the target reaction torque; and set a reference angle to one of a steering angle and a turning angle, set a converted angle to an angle obtained by converting another of the steering angle and the turning angle according to a steering angle ratio, and calculate the difference axial force based on a difference between the reference angle and the converted angle.

Abstract: The present driving assistance apparatus assists driving from a vehicle stop state in a predetermined area. The apparatus acquires outside world information from the surroundings of a vehicle, detects a place and position to which the vehicle can move, detects a position of the vehicle, calculates a movement route when the vehicle moves in a predetermined direction by automatic driving from a vehicle stop state in a predetermined area, and determines a safety confirmation position at which the driver can visually confirm a surrounding traveling environment on the movement route. The route is calculated based on the outside world information and the position of vehicle. The driving assistance apparatus reduces a speed of the vehicle to a predetermined speed or less so that the driver can visually confirm the surrounding traveling environment at the safety confirmation position.

Abstract: Provided is a vehicle control device that can reduce discomfort of an occupant during parking control. The vehicle control device 10 includes a route calculator 11 that calculates a parking route of a vehicle, a travel controller 12 that makes the vehicle travel along the parking route, and a route selector 13 that selects either an original parking route or a new parking route when the vehicle traveling along the parking route stops at a stop position before a turn-back position, the new parking route being calculated at the stop position. The travel controller 12 makes the vehicle travel from the stop position along the parking route selected by the route selector 13.

Abstract: A vehicle control device, which reduces intervention in automatic parking by a driver, includes a processor and a memory, that control the vehicle to a target parking position. The vehicle control device includes an obstacle detection unit detecting a position of an obstacle around the vehicle, a travelable region setting unit that determines a region where the vehicle may travel based on the position of the obstacle, and sets the target parking position within the travelable region, a route generation unit that calculates a travel route to the target parking position within the travelable region, and an automatic parking execution unit that causes the vehicle to automatically travel toward the target parking position. When a driver intervenes during the automatic traveling, the route generation unit stores vehicle state information at the time of the intervention, and resets the travelable region based on the driver operation intervention information.

Abstract: A parking support device is provided which, when calculating a parking route followed by a host vehicle, calculates the parking route based on the reliability of obstacle information acquired by a sensor mounted on the host vehicle, thereby improving the convenience of a driver of the host vehicle. A parking support device 10 includes an obstacle information analysis unit 303 that recognizes an external world from external world information detected by a camera 2 and a sonar 3 that acquire the external world information, and a parking route calculation unit 304 that calculates a parking route of a host vehicle 1 based on information on an obstacle in the external world recognized by the obstacle information analysis unit 303, and the parking route calculation unit 304 sets a distance between the obstacle and the host vehicle 1 in the parking route according to a degree of reliability of information on the obstacle.

Abstract: Provided is a vehicle control device capable of improving the riding comfort of a vehicle during parking control. A vehicle control device 10 includes: a distance measuring unit 14 that measures a distance between a position of a vehicle and a target stop position of the vehicle; and an acceleration setting unit 15 that sets an acceleration profile, which is a time change of a target value of acceleration during deceleration of the vehicle, according to the distance based on a jerk profile 15a, which is a time change of a target value of jerk during deceleration of the vehicle.

Abstract: To reduce a sense of discomfort to the occupants. A control device 100a includes a surrounding environment recognition unit 1 and a guidance unit 10. The surrounding environment recognition unit 1 recognizes the surrounding environment of an own vehicle 900 and sets a target parking position 901 and a travelable space of the own vehicle 900. The guidance unit 10 guides and controls the own vehicle 900 to the target parking position 901. The guidance unit 10 changes a traveling state of the own vehicle 900 according to the size of the travelable space.

Abstract: An abrasive article having a removable support sheet having a first major surface. An image layer containing inks applied over the first major surface. A polyurethane backing layer having a first major backing surface located adjacent to the image layer and a second major backing surface opposite the first major surface. A functional layer comprising an abrasive layer applied to the second major surface; the abrasive layer comprising a make coat, abrasive particles and a size coat.

Abstract: The present invention provides novel benzazepine compounds of Formula (1), or salts thereof, having vasopressin V1a and V2 antagonisms, and medical uses thereof. In the formula, R1 is optionally substituted C1-6 alkyl, etc.; L is —C(?O)—NH—, etc.; Ring A1 is a hydrocarbon ring, etc.; Ring A2 is a hydrocarbon ring, etc.; and each of Rings A1 and A2 may have at least one substituent.

Abstract: Provided is a vehicle control device capable of quickly obtaining a route for reaching a target parking position re-recognized during automatic parking control. The vehicle control device includes: a connection route generation unit 33 which generates a target route 47 for moving a vehicle 1 from a parking start position 41 to a target parking position 44a of a target parking frame 44, and generates a connection route 48 for moving the vehicle to the target parking position of the target parking frame re-recognized by a recognition unit 31 while the vehicle moves along the target route from the position of the vehicle; and a mode switching unit which switches from a first mode in which the vehicle 1 moves along the target route 47 to a second mode in which the vehicle 1 moves along the connection route 48, on condition that the connection route 48 is generated.

Abstract: The present invention provides novel benzazepine compounds of Formula (1), or salts thereof, having vasopressin V1a and V2 antagonisms, and medical uses thereof. In the formula, R1 is optionally substituted C1-6 alkyl, etc.; L is —C(?O)—NH—, etc.; Ring A1 is a hydrocarbon ring, etc.; Ring A2 is a hydrocarbon ring, etc.; and each of Rings A1 and A2 may have at least one substituent.

Abstract: When one sensors fails and thus malfunctions during automatic parking of a vehicle, only the other sensor functions. Accordingly, depending on the behavior of the vehicle, the detection characteristics of the other sensor cause degradation in recognition of the vehicle, hindering the automatic parking from being continued. In processing S401, a determination is made whether or not an external recognition device, such as a camera or sonar, malfunctions. In processing S402, based on the determination on malfunction of the external recognition device, a determination is made whether or not to restrict vehicle speed or to restrict a path, with reference to restriction information for parking control. The restriction information for parking control provides information for restricting the vehicle speed in accordance with the malfunction of the camera, and for restricting the path in accordance with the malfunction of the sonar.

Abstract: The present invention provides a parking assist apparatus capable of improving convenience when a passenger of a vehicle gets on and off. According to the present invention, the parking assistance apparatus acquires information on parking candidate frames, and where an own vehicle can park, from a front camera, a right camera, a rear camera, and a left camera configured to acquire information on a surrounding environment of the own vehicle, and from surrounding environment information acquired by these cameras. The parking assistance apparatus detects surrounding environment information and of the parking candidate frames, and from the surrounding environment information and information on the parking candidate frames, and determines a target parking position where the own vehicle parks based on the information on the parking candidate frames, the surrounding environment information, and the preference information related to getting on and off of a passenger who rides on the own vehicle.

Abstract: A driving support device is provided which performs a simple determination of a parking route to a target parking position in the driving support device while a vehicle is running and can improve the convenience of a driver of the vehicle. Based on an arc having a turning radius greater than or equal to the minimum rotation radius of the own vehicle from the estimated stop position and an arc having a turning radius greater than or equal to the minimum rotation radius of the own vehicle from the available parking position, the parking route to the available parking position is evaluated.