Abstract: A mobile object recognizing device comprises a camera (2) for taking time-series images, a feature point extracting unit (23) for extracting the feature points of the individual time-series images taken by the camera (2), an optical flow creating unit (24) for comparing the feature points of the time-series images between different images, to create an optical flow joining the feature points having the same pattern, and a grouping operation unit (25) for selecting that optical flow as one belonging to one mobile object, the prolonged line of which intersects with one vanishing point within a predetermined error range and in which the external ratio of a segment joining the other end point and the vanishing point with one end point of the optical flow being the externally dividing point in the extension of the optical flow.

Abstract: The moving object recognizing apparatus includes a data acquisition unit for acquiring image data obtained in time series by an imaging device, a recognition unit for recognizing a moving object by executing a plurality of image processing operations on two of the image data obtained at different times, the plurality of image processing operations including an operation of calculating correlativity of a same recognition target pattern, and a reliability calculation unit for calculating recognition reliability indicative of reliability of recognition of the moving object, based upon at least one of the results of the respective image processing operations by the recognition unit.

Abstract: Provided is a moving object recognizing apparatus capable of effectively showing reliability of result of image processing involved in moving object recognition and issuing alarms in an appropriate manner when needed. The moving object recognizing apparatus includes a data acquisition unit (1) for acquiring image data obtained in time series by an imaging device, a recognition unit (2) for recognizing a moving object by executing a plurality of image processing operations on two of the image data obtained at different times, the plurality of image processing operations including an operation of calculating correlativity of a same recognition target pattern, and a reliability calculation unit (7) for calculating recognition reliability indicative of reliability of recognition of the moving object, based upon at least one of the results of the respective image processing operations by the recognition unit (2).

Abstract: A mobile object recognizing device comprises a camera (2) for taking time-series images, a feature point extracting unit (23) for extracting the feature points of the individual time-series images taken by the camera (2), an optical flow creating unit (24) for comparing the feature points of the time-series images between different images, to create an optical flow joining the feature points having the same pattern, and a grouping operation unit (25) for selecting that optical flow as one belonging to one mobile object, the prolonged line of which intersects with one vanishing point within a predetermined error range and in which the external ratio of a segment joining the other end point and the vanishing point with one end point of the optical flow being the externally dividing point in the extension of the optical flow.

Abstract: A device for detecting a road traveling lane, which is capable of stably defining a position of a boundary of a traveling lane. The device has edge point detection means (ED) for detecting a plurality of edge points in a contour on an image, edge histogram producing means (HD) for producing a vertical edge histogram for horizontal elements of the plurality of edge points, block marking line determination means (BD) for determining presence and absence of a block-like marking line on the basis of periodicity of distribution and a combination of distributions of plus edges and minus edges in the vertical edge histogram, and lane boundary edge detection means (MD) for detecting vertical edge points present outside (relative to the center of the traveling lane) of a region where the block-like marking line is present.

Abstract: A lane keeping assist device for a vehicle includes a steering control device, a detection device for lane of travel for assisting travel of the vehicle in a lane of travel in accordance with detection results and steering state and traveling state of the vehicle. Road curvature in a direction the vehicle traveling in is estimated on the basis of a first road curvature calculated on the basis of calculation result of a vehicle state amount calculation device and detection result of a state detection device, and a second road curvature calculated on the basis of positional coordinates by a predetermined distance in the direction the vehicle traveling in detected by a navigation system NAV. Target state amount is set on the basis of the road curvature and the steering state and traveling state of the vehicle.

Abstract: A device for detecting a road traveling lane, which is capable of stably defining a position of a boundary of a traveling lane. Edge point detection means (ED) detects a plurality of edge points in a contour on an image, and segment group producing means (SD) produces a line segment on the basis of continuity of distance and direction between neighboring edge points, and groups a plurality of line segments having a predetermined relationship with each other, to produce a segment group. Further, curve detection means (CD) detects a curve fitted to the segment group. Then, when a segment group forming a curve closest to the center of the traveling lane has a predetermined length and repeated cycle, lane boundary position defining means (LD) defines the segment group as the innermost marking line, and defines a position of a neighboring curve outside of the innermost marking line as the position of the boundary of the traveling lane.

Abstract: A lane keeping assist device for a vehicle includes a steering control device, a detection device for lane of travel for assisting travel of the vehicle in a lane of travel in accordance with detection results and steering state and traveling state of the vehicle. Road curvature in a direction the vehicle traveling in is estimated on the basis of a first road curvature calculated on the basis of calculation result of a vehicle state amount calculation device and detection result of a state detection device, and a second road curvature calculated on the basis of positional coordinates by a predetermined distance in the direction the vehicle traveling in detected by a navigation system NAV. Target state amount is set on the basis of the road curvature and the steering state and traveling state of the vehicle.

Abstract: A rear-wheel steering angle control device includes a target rear-wheel steering angle calculating means for calculating a target rear-wheel steering angle based upon the detection by a detecting means. The target rear-wheel steering angle calculating means further calculates an averaged locus by averaging a front end point running locus based upon a sample point memorized by a front end point locus memorizing means. The target rear-wheel steering angle calculating means still further limits the target rear-wheel steering angle not to deviate a vehicle rear end point from an inner range of the averaged locus.

Abstract: The present invention provides a rear-wheel steering angle control device which is capable of drastically reducing the man-hours required for setting a gain of a target rear-wheel steering angle relative to a front-wheel steering angle. The rear-wheel steering angle control device includes a target rear-wheel steering angle calculating device which has a variable coefficient inputting device. A specific parameter (such as steady &bgr; gain) of a theoretical transfer function of physical quantity (such as vehicle-body slip angle &bgr;) relative to a front-wheel steering angle is multiplied with variable coefficients (such as K&bgr;) to a transfer function as a target transfer function (target &bgr; transfer function 5).

Abstract: A rear-wheel steering angle control device includes a target rear-wheel steering angle calculating means for calculating a target rear-wheel steering angle based upon the detection by a detecting means. The target rear-wheel steering angle calculating means further calculates an averaged locus by averaging a front end point running locus based upon a sample point memorized by a front end point locus memorizing means. The target rear-wheel steering angle calculating means still further limits the target rear-wheel steering angle not to deviate a vehicle rear end point from an inner range of the averaged locus.

Abstract: A rear-wheel steering angle control device which improves the running stability of a vehicle by steering the rear wheels as well as the front. Based on the vehicles speed and angle of the turned front wheels, the option angle to turn the rear wheels can be determined. When the rear wheels are turned and continually monitored, the vehicles' turning radius is improved while eliminating the driver's feeling of wrongness which occurs when the rear wheel is over-turned.

Abstract: A rear-wheel steering angle control device which improves the running stability of a vehicle by steering the rear wheels as well as the front. Based on the vehicles speed and angle of the turned front wheels, the option angle to turn the rear wheels can be determined. When the rear wheels are turned and continually monitored, the vehicles' turning radius is improved while eliminating the driver's feeling of wrongness which occurs when the rear wheel is over-turned.

Abstract: The present invention provides a rear-wheel steering angle control device which is capable of drastically reducing the man-hours required for setting a gain of a target rear-wheel steering angle relative to a front-wheel steering angle. The rear-wheel steering angle control device includes a target rear-wheel steering angle calculating device which has a variable coefficient inputting device. A specific parameter (such as steady &bgr; gain) of a theoretical transfer function of physical quantity (such as vehicle-body slip angle &bgr;) relative to a front-wheel steering angle is multiplied with variable coefficients (such as K&bgr;) to a transfer function as a target transfer function (target &bgr; transfer function 5).

Abstract: A travelling direction correcting apparatus includes: a shift detection device for detecting a shift amount of a vehicle running on a road with respect to the road; a wheel brake pressure control device for pressure wheel brake pressures and controlling a wheel brake pressure distribution; and a cruise control device for commanding a wheel brake pressure distribution control to the wheel brake pressure control device. The wheel brake pressure distribution control includes the following processes: (1) at least one of a yaw rate, a lateral speed and a lateral acceleration is made an index, (2) a value of the index, which appears in the vehicle when its running direction is changed toward a direction along which the shift amount decreases, is added to a value of the index, which appears when the vehicle runs along a curved road, and a summed amount is made an object value and (3) the value of the index, which appears in the vehicle, is coincided with the object value.

Abstract: A flow control valve unit includes a pressurized fluid inlet, a pressurized fluid outlet, a pressurized fluid chamber in which is positioned a stationary seat member, a partition member dividing the pressurized fluid chamber into a first section in constant communication with the inlet and a second section that communicates with the outlet via a center opening in the stationary seat member, an orifice for communicating said first and second sections to each other, and a through hole formed in the partition member. A movable rod is positioned within the pressurized fluid chamber and extends through the through hole in the partition member. The movable rod has a sealing portion at one end for opening and closing the center opening in the stationary seat member during movement of the stationary member. A spring is operatively associated with the movable rod for urging the movable rod in a direction which causes the sealing portion to close the center opening.

Abstract: A hydraulic brake system for braking a vehicle wheel includes a hydraulic fluid source, a pump connected to the hydraulic fluid source for pumping hydraulic fluid based on operation of an operating member of the vehicle and a connecting arrangement having one end connected to the pump. A wheel cylinder which is adapted to be mounted adjacent a brake disk of a vehicle wheel includes a brake pad element for being urged against the brake disk upon the application of a hydraulic fluid pressure to impart a braking force to the brake disk. The brake pad element is movable with the brake disk when the brake disk element is urged against the brake disk. In addition, a movable pressure increasing element is positioned adjacent the brake pad element and is movable away from the brake pad element as a result of the brake pad element moving with the brake disk.

Abstract: A hydraulic brake system for braking a vehicle wheel includes a hydraulic fluid source, a pump connected to the hydraulic fluid source for pumping hydraulic fluid based on operation of an operating member of the vehicle and a connecting arrangement having one end connected to the pump. A wheel cylinder which is adapted to be mounted adjacent a brake disk of a vehicle wheel includes a brake pad element for being urged against the brake disk upon the application of a hydraulic fluid pressure to impart a braking force to the brake disk. The brake pad element is movable with the brake disk when the brake disk element is urged against the brake disk. In addition, a movable pressure increasing element is positioned adjacent the brake pad element and is movable away from the brake pad element as a result of the brake pad element moving with the brake disk. As a result, an increase in pressure in the wheel cylinder arises in a relatively rapid manner to compensate for compliant characteristics in the braking system.

Abstract: A control system for a variable displacement engine for an automobile changes a number of the cylinders of the engine when an engine load changes. The system sets an amendment value to a throttle valve opening in accordance with a throttle valve opening and an engine revolution. The system controls the throttle valve before the system changes a number of the cylinders. Thus the throttle valve is controlled to obtain the same torque before and after the change of the number of the cylinders.

Abstract: A throttle control apparatus includes an accelerator operation mechanism, a throttle shaft, a driving source, an electromagnetic clutch mechanism, driving control means, accelerator operational amount detecting means, accelerator abnormality detecting means, throttle valve opening amount detecting means, throttle abnormality detecting means, valve abnormality detecting means and clutch control means. The accelerator abnormality detecting means judge the abnormality of the accelerator operational amount detecting means and the throttle abnormality detecting means judge the abnormality of the throttle valve opening amount detecting means. Furthermore, the valve abnormality detecting means judge the operation of the throttle control as abnormality when the amount of the throttle valve opening is more than a prescribed value under the condition which the operational amount of the accelerator operation amount is less than a prescribed value.