Abstract: A three-dimensional position estimation device includes: a feature point detection unit detecting feature points from images captured by an image capturing device mounted in a moving object; a position-posture change amount calculation unit calculating change amounts of a position and a posture of the moving object; a feature point association unit associating feature points using a feature amount indicating a feature of the feature point; a three-dimensional position acquisition unit acquiring three-dimensional positions of the feature points and acquires a position and a posture of the image capturing device; a graph structure data generation unit generating graph structure data configured with feature point and image nodes, and a feature point and image capturing edges; an error function setting unit setting first and second error functions; and a graph structure data optimizing unit optimizing the three-dimensional position and the position and the posture of the image capturing device.

Abstract: A self-position estimation apparatus includes an image capturing unit capturing driving images and reference images at a plurality of positions along a predetermined driving route, a detection unit detecting feature points on each of the driving images and feature points on each of the reference images, a storage unit storing map information which includes the feature points on each of the reference images and a position and a posture of the image capturing unit at a time each of the reference images is captured by the image capturing unit, and an estimation unit selecting a similar image similar to one of the driving images from the reference images to correlate the feature points on the one of the driving images and feature points on the similar image, the estimation unit estimating a position and a posture of an own vehicle a predetermined driving route based on a correlation result.

Abstract: A three-dimensional position estimation device includes: a feature point detection unit detecting feature points from images captured by an image capturing device mounted in a moving object; a position-posture change amount calculation unit calculating change amounts of a position and a posture of the moving object; a feature point association unit associating feature points using a feature amount indicating a feature of the feature point; a three-dimensional position acquisition unit acquiring three-dimensional positions of the feature points and acquires a position and a posture of the image capturing device; a graph structure data generation unit generating graph structure data configured with feature point and image nodes, and a feature point and image capturing edges; an error function setting unit setting first and second error functions; and a graph structure data optimizing unit optimizing the three-dimensional position and the position and the posture of the image capturing device.

Abstract: A self-position estimation apparatus includes an image capturing unit capturing driving images and reference images at a plurality of positions along a predetermined driving route, a detection unit detecting feature points on each of the driving images and feature points on each of the reference images, a storage unit storing map information which includes the feature points on each of the reference images and a position and a posture of the image capturing unit at a time each of the reference images is captured by the image capturing unit, and an estimation unit selecting a similar image similar to one of the driving images from the reference images to correlate the feature points on the one of the driving images and feature points on the similar image, the estimation unit estimating a position and a posture of an own vehicle a predetermined driving route based on a correlation result.

Abstract: A vehicle control apparatus that controls a vehicle provided with a steering force applying device capable of applying steering force to induce a change in a steering angle of a steered wheel to the steered wheel, includes a difference detecting device that detects a positional difference that determines a relative positional relationship between a target running path to be maintained and the vehicle; a determining device that determines a control amount of the steering force applying device based on the detected positional difference; a controller that maintains a running path of the vehicle on the target running path by controlling the steering force applying device according to the determined control amount; a steering input detecting device that detects a steering input to a steering input device by a driver; and a correcting device that corrects a determining reference of the control amount of the steering force applying device such that, when a steering input is detected while the running path is mainta

Abstract: In control of a vehicle that is provided with a steering torque supply device that supplies a steering torque to a steering device coupled to a steered wheel and a steering transmission ratio variation device that changes a steering transmission ratio, the control includes: setting a target state quantity for keeping the vehicle in a target lane; controlling the steering transmission ratio variation device so that a state quantity of the vehicle becomes the set target state quantity; controlling the steering torque supply device so that a steering reaction restriction torque that restricts a steering reaction torque generated in the steering device is supplied with the steering device as the steering torque when the vehicle is kept within the target lane; and correcting the steering reaction restriction torque on the basis of a steering input when the steering input from a driver of the vehicle is produced.

Abstract: A driving support apparatus of a vehicle supports driving of the vehicle, the vehicle includes a rudder angle varying device capable of changing a relative relation between a steering angle and a rudder angle. The driving support apparatus includes a following control device for controlling the rudder angle varying device such that the vehicle follows a target driving route; a steering angle specifying device for specifying the steering angle; and a judging device for judging whether or not overriding performed by a driver takes place on the basis of the specified steering angle and a reference steering angle which is the steering angle in making the vehicle follow the target driving route. The following control device stops the vehicle following for the target driving route if it is judged that the overriding takes place.

Abstract: In control of a vehicle that is provided with a steering torque supply device that supplies a steering torque to a steering device coupled to a steered wheel and a steering transmission ratio variation device that changes a steering transmission ratio, the control includes: setting a target state quantity for keeping the vehicle in a target lane; controlling the steering transmission ratio variation device so that a state quantity of the vehicle becomes the set target state quantity; controlling the steering torque supply device so that a steering reaction restriction torque that restricts a steering reaction torque generated in the steering device is supplied with the steering device as the steering torque when the vehicle is kept within the target lane; and correcting the steering reaction restriction torque on the basis of a steering input when the steering input from a driver of the vehicle is produced.

Abstract: A vehicle control apparatus that controls a vehicle provided with a steering force applying device capable of applying steering force to induce a change in a steering angle of a steered wheel to the steered wheel, includes a difference detecting device that detects a positional difference that determines a relative positional relationship between a target running path to be maintained and the vehicle; a determining device that determines a control amount of the steering force applying device based on the detected positional difference; a controller that maintains a running path of the vehicle on the target running path by controlling the steering force applying device according to the determined control amount; a steering input detecting device that detects a steering input to a steering input device by a driver; and a correcting device that corrects a determining reference of the control amount of the steering force applying device such that, when a steering input is detected while the running path is mainta

Abstract: A driving support apparatus of a vehicle supports driving of the vehicle, the vehicle includes a rudder angle varying device capable of changing a relative relation between a steering angle and a rudder angle. The driving support apparatus includes a following control device for controlling the rudder angle varying device such that the vehicle follows a target driving route; a steering angle specifying device for specifying the steering angle; and a judging device for judging whether or not overriding performed by a driver takes place on the basis of the specified steering angle and a reference steering angle which is the steering angle in making the vehicle follow the target driving route. The following control device stops the vehicle following for the target driving route if it is judged that the overriding takes place.

Abstract: In a steer-by-wire system 10, a first steering reaction force made-up value (Hc1) is determined in dependence on a road reaction force (W), and a second steering reaction force made-up value (Hc2) is determined in dependence on a steering position (X) of a steering handle 11 or steerable wheels 50. A steering reaction force command value (H) is generated from both of the first steering reaction force made-up value (Hc1) and the second steering reaction force made-up value (Hc2) the weightings on which are adjusted by respective weighting gains (G1, G2), and the ratio of the weighting gains is properly altered in dependence on the state of a road surface. Thus, it can be realized to provide the steer-by-wire system 10 capable of adjusting the steering reaction force to be sensitive or insensitive to the state of the road surface.

Abstract: In a steer-by-wire system 10, a first steering reaction force made-up value (Hc1) is determined in dependence on a road reaction force (W), and a second steering reaction force made-up value (Hc2) is determined in dependence on a steering position (X) of a steering handle 11 or steerable wheels 50. A steering reaction force command value (H) is generated from both of the first steering reaction force made-up value (Hc1) and the second steering reaction force made-up value (Hc2) the weightings on which are adjusted by respective weighting gains (G1, G2), and the ratio of the weighting gains is properly altered in dependence on the state of a road surface. Thus, it can be realized to provide the steer-by-wire system 10 capable of adjusting the steering reaction force to be sensitive or insensitive to the state of the road surface.

Abstract: The present invention relates to a steering control apparatus for maintaining operating characteristics which do not change from when conditions are normal and when an impairment occurs. The apparatus includes a plurality of motors for driving a steered wheel and a plurality of ECUs, each associated with one of the motors. When the steering control apparatus is operating normally, a torque command representing torque required to turn the steered wheel is generated. The torque command is divided in accordance with the number of motors. Each of the ECUs control the associated motors in accordance with a corresponding one of the distributed torques.

Abstract: A controller of a steer-by-wire steering apparatus determines whether voltage applied to a steering motor in accordance with a current command value has reached a predetermined voltage. Based on the result, the controller selects one of the value of an actual current through the steering motor and a current command value. Based on the selected current value, an axial force applied to a steering rod is estimated. Based on the estimated axial force, a counter torque motor is controlled. Therefore, An error or oscillation occurring in the estimated steering axial force is prevented, and the driver is suppressed from further turning the steering wheel when the voltage applied to the steering motor is saturated.

Abstract: A steer-by-wire steering apparatus for a vehicle includes an elastic member couples a reaction force actuator to a steering wheel. With respect to the elastic member, a side closer to the steering wheel is referred to as a primary side, and a side closer to the reaction force actuator is referred to as a secondary side. A steering wheel position detector is located at the secondary side. Therefore, the apparatus is capable of giving a feel of a steering reaction force equivalent to an ordinary mechanically connected steering apparatus to an operator and secures stability of a control system.

Abstract: A controller of a steer-by-wire steering apparatus determines whether voltage applied to a steering motor in accordance with a current command value has reached a predetermined voltage. Based on the result, the controller selects one of the value of an actual current through the steering motor and a current command value. Based on the selected current value, an axial force applied to a steering rod is estimated. Based on the estimated axial force, a counter torque motor is controlled. Therefore, An error or oscillation occurring in the estimated steering axial force is prevented, and the driver is suppressed from further turning the steering wheel when the voltage applied to the steering motor is saturated.

Abstract: A steer-by-wire steering apparatus for a vehicle includes an elastic member couples a reaction force actuator to a steering wheel. With respect to the elastic member, a side closer to the steering wheel is referred to as a primary side, and a side closer to the reaction force actuator is referred to as a secondary side. A steering wheel position detector is located at the secondary side. Therefore, the apparatus is capable of giving a feel of a steering reaction force equivalent to an ordinary mechanically connected steering apparatus to an operator and secures stability of a control system.

Abstract: The present invention relates to a steering control apparatus for maintaining operating characteristics which do not change from when conditions are normal and when an impairment occurs. The apparatus includes a plurality of motors for driving a steered wheel and a plurality of ECUs, each associated with one of the motors. When the steering control apparatus is operating normally, a torque command representing torque required to turn the steered wheel is generated. The torque command is divided in accordance with the number of motors. Each of the ECUs control the associated motors in accordance with a corresponding one of the distributed torques.

Abstract: A power steering apparatus is provided to generate an assistant force corresponding to a change of viscous friction in the steering unit or the like, without losing information on reaction force from a road surface. An external force calculation portion calculates an external force, that is, a force other than a force for steering (i.e. a steering force) among forces (action forces) acting on the steering unit of a vehicle. The external force is assumed to be composed of an outside force received from the road surface, such as an SAT (self-aligning torque), and an internal drag resulting from a viscous friction generated in the steering unit, and the like and these two forces are separated in an outside force and internal drag calculation portion. In separating these two forces, under the assumption that the outside force is a function of a side slip angle and an internal drag is a function of a steering angular velocity, and coefficients of functions are obtained.

Abstract: A power steering apparatus is provided to generate an assistant force corresponding to a change of viscous friction in the steering unit or the like, without losing information on reaction force from a road surface. An external force calculation portion calculates an external force, that is, a force other than a force for steering (i.e. a steering force) among forces (action forces) acting on the steering unit of a vehicle. The external force is assumed to be composed of an outside force received from the road surface, such as an SAT (self-aligning torque), and an internal drag resulting from a viscous friction generated in the steering unit, and the like and these two forces are separated in an outside force and internal drag calculation portion. In separating these two forces, under the assumption that the outside force is a function of a side slip angle and an internal drag is a function of a steering angular velocity, and coefficients of functions are obtained.