Abstract: A vehicle control apparatus comprises: a path deviation determination unit configured to output a request signal for requesting driving takeover if a deviation amount of information representing a traveling state with respect to a target track is not less than a first threshold; and an operation monitoring unit configured to monitor processing of the path deviation determination unit. The operation monitoring unit determines that an abnormality has occurred in the path deviation determination unit if the deviation amount of the information representing the traveling state with respect to the target track is not less than a second threshold larger than the first threshold, and a state in which the request signal is not output continues for a predetermined period.

Abstract: An in-vehicle driving assistance apparatus that can execute driving assistance on the basis of any one of a plurality of control modes having mutually-different degrees of driving assistance, the apparatus comprising a receiving unit configured to receive a transition instruction of the control mode, a setting unit configured to set the control mode based on the transition instruction, a determining unit configured to determine whether or not a transition scheme for the control mode indicated by the transition instruction has a pre-registered detail, and a suppressing unit configured to suppress the setting of the control mode by the setting unit when the transition scheme for the control mode indicated by the transition instruction does not have the pre-registered detail.

Abstract: An in-vehicle driving assistance apparatus that can execute driving assistance on the basis of any one of a plurality of control modes having mutually-different degrees of driving assistance, the apparatus comprising a receiving unit configured to receive a transition instruction of the control mode, a setting unit configured to set the control mode based on the transition instruction, a determining unit configured to determine whether or not a transition scheme for the control mode indicated by the transition instruction has a pre-registered detail, and a suppressing unit configured to suppress the setting of the control mode by the setting unit when the transition scheme for the control mode indicated by the transition instruction does not have the pre-registered detail.

Abstract: A vehicle control apparatus comprises: a path deviation determination unit configured to output a request signal for requesting driving takeover if a deviation amount of information representing a traveling state with respect to a target track is not less than a first threshold; and an operation monitoring unit configured to monitor processing of the path deviation determination unit. The operation monitoring unit determines that an abnormality has occurred in the path deviation determination unit if the deviation amount of the information representing the traveling state with respect to the target track is not less than a second threshold larger than the first threshold, and a state in which the request signal is not output continues for a predetermined period.

Abstract: A drive control apparatus in which the target torque which is a target value of an output torque of the prime mover for driving a vehicle, is calculated, and the output torque control is performed so that the output torque of the prime mover coincides with the target torque, is provided. An estimated output torque which is an estimated value of the actual output torque of the prime mover, is calculated, and the torque difference accumulated value which approximates a time-integration value of a torque difference between the target torque and the estimated output torque, is calculated. It is determined that an abnormality has occurred in the output torque control when the torque difference accumulated value exceeds a determination threshold value which is set to a constant value.

Abstract: A drive control apparatus in which the target torque which is a target value of an output torque of the prime mover for driving a vehicle, is calculated, and the output torque control is performed so that the output torque of the prime mover coincides with the target torque, is provided. An estimated output torque which is an estimated value of the actual output torque of the prime mover, is calculated, and the torque difference accumulated value which approximates a time-integration value of a torque difference between the target torque and the estimated output torque, is calculated. It is determined that an abnormality has occurred in the output torque control when the torque difference accumulated value exceeds a determination threshold value which is set to a constant value.