Abstract: An apparatus for recognizing lane partition lines on opposite sides of a traveling lane of a vehicle based on a forward image captured by a camera mounted in the vehicle. In the apparatus, an allowable range limiter is configured to, based on a learned value of a lane width learned by a lane width learner, limit allowable ranges for the respective lane partition lines, where in the allowable ranges the respective lane partition lines are allowed to be detected in the forward image. A lane change determiner is configured to determine whether or not there is a lane change made by the vehicle. The allowable range limiter is further configured to, if it is determined by the lane change determiner that there is a lane change, enlarge at least one of the allowable ranges limited by the allowable range limiter based on the learned value of the lane width.

Abstract: In a lane boundary line recognition device, a calculation section calculates a degree of uncertainty which affects a correct recognition of white lines on a roadway of a vehicle. A learning section updates a learning value of the degree of uncertainty. A recognition suppression section suppresses execution of a recognition process of recognizing white lines on the roadway when the updated learning value is more than a threshold value. An environment change judgment section judges whether or not a road environment has changed. A learning resetting section resets the learning value of the degree of uncertainty to a previous learning value when the detection result of the environment change judgment section indicates an occurrence of change of the road environment.

Abstract: In a lane boundary line recognition device, an extraction unit extracts lane boundary line candidates from image acquired by an in-vehicle camera. A position estimation unit estimates a position of each lane boundary line based on drive lane information containing a number of drive lanes on a roadway and a width of each drive lane when (a) and (b) are satisfied, (a) when an own vehicle drives on an own vehicle lane specified by the drive lane specifying unit, and (b) when the lane boundary line candidate corresponds to lane boundary lines of the own vehicle lane. A likelihood calculation unit increases a likelihood of the lane boundary line candidate when a distance between a position of the lane boundary line candidate and an estimated position of the lane boundary line candidate obtained by the drive lane boundary line position estimation unit is within a predetermined range.

Abstract: A vehicle control apparatus capable of automatic steering control while reducing discomfort or stress on vehicle occupants. In the apparatus, a lane detection unit detects a lane in which the vehicle is traveling. An offset setting unit sets an offset within the lane suitable for making a driver feel less stressed. An occupant detection unit detects the presence of a designated occupant of a seat opposite a driver's seat. An offset adjustment unit, when the designated occupant is detected, adjusts the offset set by the offset setting unit to be decreased. A vehicle-path estimation unit estimates a vehicle path in the lane such that the vehicle can travel along the vehicle path from a current lateral position to a target lateral position of the vehicle. An automatic steering control unit automatically controls steering so that the vehicle travels along the estimated vehicle.

Abstract: An inter-vehicle distance control device is provided. In this control device, an inter-vehicle distance detecting section detects an inter-vehicle distance between an own vehicle and a preceding vehicle traveling in front of the own vehicle. A laterally adjacent vehicle detecting section detects another vehicle present beside the own vehicle. A cut-in detecting section judges whether or not a cut-in by the other vehicle detected by the laterally adjacent vehicle detecting section is likely to occur, before the other vehicle cuts in between the own vehicle and the preceding vehicle. An inter-vehicle distance adjusting section performs an inter-vehicle distance extension adjustment to increase the inter-vehicle distance when the cut-in detecting section judges that a cut-in is likely to occur. An inter-vehicle distance control section controls the inter-vehicle distance based on information from the inter-vehicle distance adjusting section.

Abstract: A driving control apparatus mounted on a present vehicle used for tracking a preceding vehicle includes: control module for controlling the present vehicle to accelerate or decelerate; vehicle detecting module for detecting the preceding vehicle; region detecting module for detecting a lateral region existing on an adjacent lane being adjacent to a present lane where the present vehicle exists, the lateral region being laterally to the present vehicle; and region determining module for determining whether or not the lateral region is an avoidance region that has a predetermined area. The control module performs an avoidance standby operation that allows the present vehicle to accelerate or decelerate based on a result of determining by the region determining module, when the vehicle detecting module detects the preceding vehicle existing on the present lane.

Abstract: In a vehicle travel assisting device, a vehicle speed, a yaw rate, a traveling lane of an own vehicle, and a position of a leading vehicle are detected. Target travel coordinates of the own vehicle are calculated, based on the traveling lane and the position of the leading vehicle A travel path curvature of a target travel coordinate group is estimated, based on information related to the target travel coordinate group. A steering quantity to be steered in advance by the own vehicle is calculated, based on the currently estimated travel path curvature. A weight for each of the target travel coordinates for estimating the travel path curvature is adjusted based on the vehicle speed, the yaw rate and the previously estimated travel path curvature. Steering control is performed such that the own vehicle travels so as to follow the estimated travel path curvature, based on the calculated steering quantity.

Abstract: A vehicle control apparatus that for automatic steering control that reduces occupant discomfort and stress is provided. A lane width of a subject lane and a current in-lane ratio are detected. If an off-lane obstacle which may place stress on the occupant is present within a prescribed area, a relative position between each off-lane obstacle and the vehicle is determined. A target in-lane ratio is determined based on the relative position. Specifically, when the off-lane obstacles are present on both the left and right sides of the subject lane, the target in-lane ratio is such that lateral distances to both off-lane obstacles are equal. When the off-lane obstacle is present on only one of either the left or right of the subject lane, the target in-lane ratio is set such that a lateral position away from the off-lane obstacle by a lateral distance set in advance is the target lateral position.

Abstract: In a vehicle travel assisting device, a vehicle speed, a yaw rate, a traveling lane of an own vehicle, and a position of a leading vehicle are detected. Target travel coordinates of the own vehicle are calculated, based on the traveling lane and the position of the leading vehicle A travel path curvature of a target travel coordinate group is estimated, based on information related to the target travel coordinate group. A steering quantity to be steered in advance by the own vehicle is calculated, based on the currently estimated travel path curvature. A weight for each of the target travel coordinates for estimating the travel path curvature is adjusted based on the vehicle speed, the yaw rate and the previously estimated travel path curvature. Steering control is performed such that the own vehicle travels so as to follow the estimated travel path curvature, based on the calculated steering quantity.

Abstract: When a travel path is to be generated for a vehicle, road surface lines (white lines, etc.) delimiting the traffic lane of the vehicle, and also external objects in the vehicle environment, are detected and registered as respective obstacles. Specific points are defined at appropriate locations on each obstacle, and the travel path is generated by connecting respective mid-point positions between opposed pairs of specific points, each pair defined on respective ones of an opposed (left-side, right-side) pair of the registered obstacles.

Abstract: In a vehicle control device, a basic steering amount calculation section calculates a basic steering amount to drive an own vehicle on a basic route along a driving lave. A posture detection section detects a vehicle posture state indicated by a lateral position and an angle of yaw. An offset distance detection section detects an offset distance between the basis route and the lateral position. A correction steering amount calculation section calculates a correction steering amount as a steering control amount to drive the own vehicle along a virtual correction route. The posture of the own vehicle is alien with a predetermined target posture at a predetermined virtual target point by using the virtual correction route. An instruction steering amount calculation section calculates an instruction steering amount on the basis of the basic steering amount and the correction steering amount.

Abstract: A selection track setting section in a driving route generation device determines as a selected track a track of a preceding vehicle when a detection section and a track generation section detects a track of the preceding vehicle which is running on the same driving lane of a host vehicle. A candidate track selection section outputs as a candidate track one of tracks of front vehicles, detected by the detection section and the track generation section, other than the track of the preceding vehicle. A switching selection section switches as the selected track from the track of the preceding vehicle to the candidate track when a detection of the track of the preceding vehicle is interrupted during a predetermined detection period. An estimate route generation section generates an estimated driving route of the host vehicle on the bass of the selected track.

Abstract: A vehicle driving assistance apparatus mounted in a vehicle. In the apparatus, a drivable route detection unit detects a drivable route, a vehicle state quantity detection unit detects state quantities of the vehicle, and a steering control unit controls steering of the vehicle. Further, in the apparatus, an allowable region estimation unit estimates a driving allowable region on the basis of the detected state quantities and a predetermined allowable range of behavior of the vehicle. A deviation determination unit determines that the vehicle will deviate from the drivable route when a minimum width of an overlap region of the drivable route and the driving allowable region is less than a predetermined threshold. An intervention instruction unit then outputs to the steering control unit an intervention control signal to control steering of the vehicle.

Abstract: An electric brake device comprises a caliper holding braking members and having an electric motor attached thereto, a reduction mechanism for transmitting an input rotation of one input element thereof from the electric motor to two output elements thereof at reduced speeds, a rotation-linear motion converting mechanism for converting the rotation of one of the output elements into a linear motion of one of the braking members, and a thrust force support member connected to the other output element and screw-engaged with the caliper, wherein the rotation-linear motion converting mechanism is supported by the thrust force support member to be movable together in a thrust direction and is provided with rotation limiting portions for limiting the rotation in a reverse direction of the one output element to a predetermined range, and wherein the thrust force support member is set to be greater in resistance to operation than the rotation-linear motion converting mechanism.

Abstract: An electric brake device comprises a caliper holding braking members and having an electric motor attached thereto, a reduction mechanism for transmitting an input rotation of one input element thereof from the electric motor to two output elements thereof at reduced speeds, a rotation-linear motion converting mechanism for converting the rotation of one of the output elements into a linear motion of one of the braking members, and a thrust force support member connected to the other output element and screw-engaged with the caliper, wherein the rotation-linear motion converting mechanism is supported by the thrust force support member to be movable together in a thrust direction and is provided with rotation limiting portions for limiting the rotation in a reverse direction of the one output element to a predetermined range, and wherein the thrust force support member is set to be greater in resistance to operation than the rotation-linear motion converting mechanism.