Abstract: To provide a vehicle position processing apparatus, a vehicle control apparatus, a vehicle position processing method, and a vehicle control method capable of increasing the number of the position information of front object used for generation of the trajectory and improving the generation accuracy of the trajectory. A vehicle position processing apparatus, a vehicle control apparatus, a vehicle position processing method, and a vehicle control method that obtains positions of a target object, sets a trajectory generation range which is a continuous range including a position of the target object close to a position of the present own vehicle, selects positions of the target object included in the trajectory generation range among the plural positions of the target object, as target object positions for trajectory generation, and generates a trajectory of the target object based on the target object positions for trajectory generation.

Abstract: In a target track generation apparatus, a subject vehicle reference preceding vehicle position calculator calculates a point group of subject vehicle reference preceding vehicle positions representing a history of a relative position of a preceding vehicle in a coordinate system using a current position of a subject vehicle as a reference. A target track generator generates a target track of the subject vehicle, based on the point group of the subject vehicle reference preceding vehicle positions. A correction target track generator generates a correction target track obtained by correcting the target track, based on the point group of the subject vehicle reference preceding vehicle positions or the target track, when it is determined that correction of the target track is necessary.

Abstract: An object is to provide technology capable of appropriately estimating lane marking information. A travel path recognition apparatus includes a travel path recognizer. When a plurality of pieces of the lane marking information equal to or greater than a predetermined number are acquired, the travel path recognizer corrects the plurality of pieces of the lane marking information into a plurality of pieces of current-position lane marking information based on the vehicle behavior. Then, the travel path recognizer estimates one piece of current-position lane marking information as estimation lane marking information based on the plurality of pieces of current-position lane marking information to use the estimation lane marking information to recognize a travel path.

Abstract: An object is to provide technology capable of appropriately recognizing a travel path. A travel path recognition apparatus includes a travel path recognizer. The travel path recognizer calculates a traveling distance traveled by a vehicle from acquisition time of lane marking information to current time based on a vehicle speed of vehicle behavior. Then, the travel path recognizer determines whether or not the lane marking information is information within a usable period in which the lane marking information is usable to recognize the travel path based on a predetermined lane marking acquirable distance and the traveling distance. The predetermined lane marking acquirable distance is a distance in front of a position of the vehicle, and is a distance in which a lane marking of the lane marking information is acquirable.

Abstract: Provided is a moving object detector capable of acquiring a position history of a moving object that is less affected by the behavior of a subject vehicle. In a moving object detector, a moving-object relative position acquiring unit acquires position coordinates of a moving object expressed in a subject-vehicle-based coordinate system that is based on the position of a subject vehicle. A subject-vehicle state quantity acquiring unit acquires the state quantity of the subject vehicle. A coordinate converter generates a history of position coordinates of the moving object expressed in a moving-object-based coordinate system that is based on the position of the moving object, on the basis of the position coordinates of the moving object expressed in the subject-vehicle-based coordinate system, and the state quantity of the subject vehicle.

Abstract: In a target track generation apparatus (10), a preceding vehicle position acquisition unit (1) acquires a relative position of a preceding vehicle. A subject vehicle state quantity acquisition unit (2) acquires a state quantity of a subject vehicle. A subject vehicle movement amount calculator (3) calculates a movement amount of the subject vehicle, based on the state quantity of the subject vehicle. A subject vehicle reference preceding vehicle position calculator (4) calculates a point group of subject vehicle reference preceding vehicle positions representing a history of the relative position of the preceding vehicle in a coordinate system using a current position of the subject vehicle as a reference, based on the relative position of the preceding vehicle and the movement amount of the subject vehicle. A target track generator (5) generates a target track of the subject vehicle, based on the point group of the subject vehicle reference preceding vehicle positions.

Abstract: An object is to provide technology capable of appropriately estimating lane marking information. A travel path recognition apparatus includes a travel path recognizer. When a plurality of pieces of the lane marking information equal to or greater than a predetermined number are acquired, the travel path recognizer corrects the plurality of pieces of the lane marking information into a plurality of pieces of current-position lane marking information based on the vehicle behavior. Then, the travel path recognizer estimates one piece of current-position lane marking information as estimation lane marking information based on the plurality of pieces of current-position lane marking information to use the estimation lane marking information to recognize a travel path.

Abstract: To provide a vehicle position processing apparatus, a vehicle control apparatus, a vehicle position processing method, and a vehicle control method capable of increasing the number of the position information of front object used for generation of the trajectory and improving the generation accuracy of the trajectory. A vehicle position processing apparatus, a vehicle control apparatus, a vehicle position processing method, and a vehicle control method that obtains positions of a target object, sets a trajectory generation range which is a continuous range including a position of the target object close to a position of the present own vehicle, selects positions of the target object included in the trajectory generation range among the plural positions of the target object, as target object positions for trajectory generation, and generates a trajectory of the target object based on the target object positions for trajectory generation.

Abstract: A vehicle steering system includes: a steering input unit that is steered by a driver; a steering force detector to detect steering force input into the steering input unit; a first steering control amount calculator to calculate a first steering control amount for bringing the vehicle close to the target traveling line; a steering control amount correction coefficient calculator to calculate a steering control amount correction coefficient for correcting a steering control amount based on the steering force; a second steering control amount calculator to calculate a second steering control amount based on the first steering control amount and the steering control amount correction coefficient; and a steering controller that steers and controls the vehicle based on the second steering control amount.

Abstract: An object is to provide technology capable of appropriately recognizing a travel path. A travel path recognition apparatus includes a travel path recognizer. The travel path recognizer calculates a traveling distance traveled by a vehicle from acquisition time of lane marking information to current time based on a vehicle speed of vehicle behavior. Then, the travel path recognizer determines whether or not the lane marking information is information within a usable period in which the lane marking information is usable to recognize the travel path based on a predetermined lane marking acquirable distance and the traveling distance. The predetermined lane marking acquirable distance is a distance in front of a position of the vehicle, and is a distance in which a lane marking of the lane marking information is acquirable.

Abstract: Provided is a moving object detector capable of acquiring a position history of a moving object that is less affected by the behavior of a subject vehicle. In a moving object detector, a moving-object relative position acquiring unit acquires position coordinates of a moving object expressed in a subject-vehicle-based coordinate system that is based on the position of a subject vehicle. A subject-vehicle state quantity acquiring unit acquires the state quantity of the subject vehicle. A coordinate converter generates a history of position coordinates of the moving object expressed in a moving-object-based coordinate system that is based on the position of the moving object, on the basis of the position coordinates of the moving object expressed in the subject-vehicle-based coordinate system, and the state quantity of the subject vehicle.

Abstract: A first DC/DC converter is of a constant voltage control type and is controlled so as to keep the voltage of an electric generation bus at a predetermined target value. A second DC/DC converter is of a constant current control type and is controlled so as to keep input current or output current at predetermined target current. A control circuit determines an optimum target value of electric generation bus voltage, based on different algorithms, in accordance with all or some of modes A to C which are classified by the charging/discharging condition of a second electric storage device, and controls the first DC/DC converter so that the electric generation bus voltage becomes the determined target value.

Abstract: Provided are a vehicle steering device and the like, which are capable of converging a lateral displacement at a forward gazing-point distance to a target travel line with simple control. A target travel line for a vehicle to travel by following a travel path recognized from an image taken by a camera or the like is set. A lateral speed, which is a change amount of the lateral displacement that is a difference between a position of the target travel line at the forward gazing-point distance and a position of the vehicle, is controlled so that the lateral displacement is reduced. A target steering angle is calculated based on the lateral speed, and a steering angle of the vehicle is controlled based on the calculated target steering angle.

Abstract: A vehicle steering system includes: a steering input unit that is steered by a driver; a steering force detector to detect steering force input into the steering input unit; a first steering control amount calculator to calculate a first steering control amount for bringing the vehicle close to the target traveling line; a steering control amount correction coefficient calculator to calculate a steering control amount correction coefficient for correcting a steering control amount based on the steering force; a second steering control amount calculator to calculate a second steering control amount based on the first steering control amount and the steering control amount correction coefficient; and a steering controller that steers and controls the vehicle based on the second steering control amount.

Abstract: Provided are a vehicle steering device and the like, which are capable of converging a lateral displacement at a forward gazing-point distance to a target travel line with simple control. A target travel line for a vehicle to travel by following a travel path recognized from an image taken by a camera or the like is set. A lateral speed, which is a change amount of the lateral displacement that is a difference between a position of the target travel line at the forward gazing-point distance and a position of the vehicle, is controlled so that the lateral displacement is reduced. A target steering angle is calculated based on the lateral speed, and a steering angle of the vehicle is controlled based on the calculated target steering angle.

Abstract: A first DC/DC converter (5) is of a constant voltage control type and is controlled so as to keep the voltage of an electric generation bus (A) at a predetermined target value. A second DC/DC converter (7) is of a constant current control type and is controlled so as to keep input current or output current at predetermined target current. A control circuit (8) determines an optimum target value Va* of electric generation bus voltage, based on different algorithms, in accordance with all or some of modes A to C which are classified by the charging/discharging condition of a second electric storage device (6), and controls the first DC/DC converter (5) so that the electric generation bus voltage Va becomes the determined target value Va*.

Abstract: When an estimated charging rate of an electric storage device is lower than a target rate, and a regenerative power generation controller performs power-generation control of an electric power generator when the speed of a vehicle is being reduced and fuel supply to an engine is stopped, a regenerative charging amount predictor predicts a regenerative charging rate in accordance with vehicle speed, as the vehicle speed is being reduced, and the target charging rate of the electric storage device is decreased as the regenerative predicted charging amount increases. The regenerative power generation controller limits a power-generation amount toward reduction in such a way that in the electric power generator, a difference between torque required for power generation when the electric storage device is charged and torque required for power generation when the electric storage device is not charged falls within a predetermined torque difference.

Abstract: A control device of an internal combustion engine includes a target air-fuel ratio set portion that sets a target air-fuel ratio according to an operating state of the internal combustion engine, an air-fuel ratio detection portion that detects an actual air-fuel ratio, a feedback correction value calculation portion that calculates a feedback correction value to correct a fuel injection amount for the actual air-fuel ratio to coincide with the target air-fuel ratio, and a fuel property change determination portion that determines a change of a fuel property on the basis of a change of a correction amount including a correction value for the fuel injection amount calculated on the basis of the feedback correction value in addition to the feedback correction value. The control device can determine a change of the fuel property accurately even when a change of the feedback correction value is reflected on another correction value.

Abstract: The device including: a fuel correction value calculating unit for calculating a correction value for a fuel injection quantity so that an actual air-fuel ratio becomes equal to a target air-fuel ratio; a fuel switching detecting unit for detecting that fuel switching has occurred; a fuel property estimating unit for setting a period, in which there is a possibility that a fuel property changes, as a property change period when the fuel switching is detected to calculate a fuel property correction value corresponding to another correction value for the fuel injection quantity based on the correction value within the property change period; and a property change judging unit for judging whether or not a change in the correction value is due to the change in the fuel property in a case where the correction value becomes out of a predetermined range even though the property change period is not set.

Abstract: In a vehicle power-generation control apparatus provided with a normal power generation control means that performs power-generation control of an electric power generator in such a way that an estimated charging rate of an electric storage device coincides with a target charging rate, in the case where the estimated charging rate of the electric storage device is lower than the target charging rate, and a regenerative power generation control means that performs power-generation control of the electric power generator during a period in which the speed of a vehicle is being reduced and fuel supply to an internal combustion engine is stopped, there is provided a regenerative charging amount prediction means that predicts a regenerative charging rate in accordance with a vehicle speed, when the vehicle speed is being reduced; the target charging rate of the electric storage device is decreased as the regenerative predicted charging amount obtained by the regenerative charging amount prediction means increases;