Abstract: In the conventional vehicle control device, since a detection timing of turn is late, at the time of making the change of gear ratio based the detection timing, a sense of discomfort is brought to a driver. Moreover, steering wheel angle sensor, yaw rate sensor or lateral acceleration sensor is very expensive, resulting in the cost increase of the vehicle control devices. From information regarding a steering force that can be obtained from an electric power steering device, a turn intention of a driver is detected, and based the turning intention, the change of gear ratio is conducted.

Abstract: Provided is a vehicle control system which can maintain stability of the vehicle with an inexpensive configuration without bringing discomfort to a driver when control intervenes.

Abstract: Provided is an electric power steering control apparatus, including: a motor for generating an assist torque for supplementing a steering torque; a steering torque detector for detecting the steering torque; a vehicle speed detector for detecting a speed of the vehicle; an addition command torque receiving portion for receiving an addition command torque; a steering assist torque calculating portion for calculating a steering assist torque for supplementing the steering torque; a target assist torque calculating portion for adding the steering assist torque and the addition command torque together to calculate a target assist torque; and a motor driving portion for driving the motor based on the target assist torque, in which the steering assist torque calculating portion calculates an added value of the steering torque and the addition command torque, and multiplies the added value by a gain corresponding to the vehicular speed to calculate the steering assist torque.

Abstract: Provided is an electric power steering control apparatus, including: a motor for generating an assist torque for supplementing a steering torque; a steering torque detector for detecting the steering torque; a vehicle speed detector for detecting a speed of the vehicle; an addition command torque receiving portion for receiving an addition command torque; a steering assist torque calculating portion for calculating a steering assist torque for supplementing the steering torque; a target assist torque calculating portion for adding the steering assist torque and the addition command torque together to calculate a target assist torque; and a motor driving portion for driving the motor based on the target assist torque, in which the steering assist torque calculating portion calculates an added value of the steering torque and the addition command torque, and multiplies the added value by a gain corresponding to the vehicular speed to calculate the steering assist torque.

Abstract: In an electrical power steering apparatus, steering shaft reaction torque is estimated by a steering shaft reaction torque estimation unit, and a reference road reaction torque is estimated by a reference road reaction torque estimation unit. The estimated steering shaft reaction torque and the reference road reaction torque are weighted, and, in response, a target steering reaction torque is set by a target steering reaction torque generation unit, hysteresis width and slope of the target steering reaction torque are respectively adjusted, and steering feeling is thereby easily improved.

Abstract: A motor-driven power steering control apparatus assuring consistently comfortable steering operation of a motor vehicle includes a steering state detecting (10), a motor drive command value arithmetic device (20), a trouble detector (40), a motor drive command value corrector (51, 52) for decrementing a motor drive command value outputted from the motor drive command value corrector (51) from a predetermined initial value as a function of time lapse when a trouble detection signal is outputted from the trouble detector (40), and an element (30) for driving an assist motor in conformance with the output of the motor drive command value corrector (51, 52). The motor drive command value corrector (51, 52) includes a low-pass filter (515) for smoothing the motor drive command value. A value acquired through the low-pass filter (515) is employed as the predetermined initial value.

Abstract: A motor-driven power steering control apparatus assuring consistently comfortable steering operation of a motor vehicle includes a steering state detector (10), a motor drive command value arithmetic device (20), a trouble detector (40), a motor drive command value corrector (51, 52) for decrementing a motor drive command value outputted from the motor drive command value corrector (51) from a predetermined initial value as a function of time lapse when a trouble detection signal is outputted from the trouble detector (40), and an element (30) for driving an assist motor in conformance with the output of the motor drive command value corrector (51, 52). The motor drive command value corrector (51, 52) includes a low-pass filter (515) for smoothing the motor drive command value. A value acquired through the low-pass filter (515) is employed as the predetermined initial value.

Abstract: In an electrical power steering apparatus, steering shaft reaction torque is estimated by a steering shaft reaction torque estimation unit, and a reference road reaction torque is estimated by a reference road reaction torque estimation unit. The estimated steering shaft reaction torque and the reference road reaction torque are weighted, and in response, a target steering reaction torque is set by a target steering reaction torque generation unit, hysteresis width and slope of the target steering reaction torque are respectively adjusted, and steering feeling is thereby easily improved.

Abstract: A motor-driven power steering control apparatus assuring consistently comfortable steering operation of a motor vehicle includes a steering state detecting means (10), a motor drive command value arithmetic means (20), a trouble detecting means (40), a motor drive command value correcting means (51, 52) for decrementing a motor drive command value outputted from the motor drive command value correcting means (51) from a predetermined initial value as a function of time lapse when a trouble detection signal is outputted from the trouble detecting means (40), and a means (30) for driving an assist motor in conformance with the output of the motor drive command value correcting means (51, 52). The motor drive command value correcting means (51, 52) includes a low-pass filter (515) for smoothing the motor drive command value. A value acquired through the low-pass filter (515) is employed as the predetermined initial value.

Abstract: A motor-driven power steering control apparatus assuring consistently comfortable steering operation of a motor vehicle includes a steering state detecting means (10), a motor drive command value arithmetic means (20), a trouble detecting means (40), a motor drive command value correcting means (51, 52) for decrementing a motor drive command value outputted from the motor drive command value correcting means (51) from a predetermined initial value as a function of time lapse when a trouble detection signal is outputted from the trouble detecting means (40), and a means (30) for driving an assist motor in conformance with the output of the motor drive command value correcting means (51, 52). The motor drive command value correcting means (51, 52) includes a low-pass filter (515) for smoothing the motor drive command value. A value acquired through the low-pass filter (515) is employed as the predetermined initial value.

Abstract: A power steering control system is provided with a road surface reaction torque detector in which a motor inertia torque is subtracted from a value obtained by adding steering torque and motor torque, and the value is passed through two stages of primary filters to obtain a road surface reaction torque. In such a computation, the inertia term of the steering wheel manipulation force does not depend on frequency and high frequency components do not bring about any unusually large steering wheel return force. Therefore, a driver can drive without difficulty in adapting to the power steering.

Abstract: In the conventional power steering control system, a road surface reaction torque is obtained by subtracting a motor inertia torque from a value obtained by adding a steering wheel steering torque and a motor torque and passing the value through a primary filter. In such computation, there is a disadvantage that high frequency components contained in steering wheel manipulation force brings about am unusually large steering wheel return force, and this gives a driver a feeling something like difficulty in adapting himself to the power steering. The system according to the invention is provided with a road surface reaction torque detector 115S in which a motor inertia torque is subtracted from a value obtained by adding a steering torque and a motor torque, and the value is passed through two stages of primary filters 100, 101 connected in two series thereby obtaining a road surface reaction torque.

Abstract: A driver dozing preventing apparatus includes a device for issuing a doze prevention alarm signal, and a device for outputting an alarm sound having a moving acoustic image of a fundamental sound when the alarm signal is issued.

Abstract: A bodily state detection apparatus comprising a CCD camera, an infrared LED device, a pickup image memory, a pupil extraction circuit and a bodily state judgment circuit. The CCD camera inputs images of a predetermined area including the subject person's face. The infrared LED device illuminates the subject person in such a way that the optical axis of the camera and the direction of the illumination coincide with each other. The pickup image memory stores temporarily the output data of the CCD camera. The pupil extraction circuit extracts the subject person's pupil position from the pickup images. The bodily state judgment circuit judges the subject person's bodily state by use of the result of pupil extraction performed by the pupil extraction circuit.

Abstract: A bodily state detection apparatus comprising a CCD camera, an infrared LED device, a pickup image memory, a pupil extraction circuit and a bodily state judgment circuit. The CCD camera inputs images of a predetermined area including the subject person's face. The infrared LED device illuminates the subject person in such a way that the optical axis of the camera and the direction of the illumination coincide with each other. The pickup image memory stores temporarily the output data of the CCD camera. The pupil extraction circuit extracts the subject person's pupil position from the pickup images. The bodily state judgment circuit judges the subject person's bodily state by use of the result of pupil extraction performed by the pupil extraction circuit.