Abstract: A vehicle control system includes: a turning device that turns a wheel of a vehicle; a steering sensor that detects a driver's steering operation; and a control device configured to execute automated turning control that controls the turning device to automatically turn the wheel, independently of the driver's steering operation. A modification desire degree represents a degree to which the driver's steering operation modifies vehicle travel caused by the automated turning control. During execution of the automated turning control, the control device calculates the modification desire degree based on a result of detection by the steering sensor. When the modification desire degree exceeds a threshold, the control device executes system suppression processing without terminating the automated turning control. In the system suppression processing, the control device weakens the automated turning control as compared to a case where the modification desire degree is equal to or lower than the threshold.

Abstract: An autonomous driving system mounted on a vehicle determines a target path based on necessary information and performs vehicle travel control such that the vehicle follows the target path. A first coordinate system is a vehicle coordinate system at a first timing when the necessary information is acquired. A second coordinate system is a vehicle coordinate system at a second timing later than the first timing. The autonomous driving system calculates, based on the necessary information acquired at the first timing, a first target path defined in the first coordinate system. Then, the autonomous driving system corrects the first target path to a second target path defined in the second coordinate system by performing coordinate transformation from the first coordinate system to the second coordinate system. The autonomous driving system uses the second target path as the target path to perform the vehicle travel control.

Abstract: A steering control device includes: a first calculator configured to calculate, according to a turning state, a first control amount for causing a motor to generate an assistance force; a second calculator configured to calculate a second control amount for adapting an actual angle to a target angle that is convertible into a turning angle of a steering wheel and generated when a host control device intervenes in steering control; and a third calculator configured to calculate, according to the turning state, a third control amount for offsetting the second control amount when the host control device intervenes in steering control.

Abstract: An autonomous driving system mounted on a vehicle determines a target path based on necessary information and performs vehicle travel control such that the vehicle follows the target path. A first coordinate system is a vehicle coordinate system at a first timing when the necessary information is acquired. A second coordinate system is a vehicle coordinate system at a second timing later than the first timing. The autonomous driving system calculates, based on the necessary information acquired at the first timing, a first target path defined in the first coordinate system. Then, the autonomous driving system corrects the first target path to a second target path defined in the second coordinate system by performing coordinate transformation from the first coordinate system to the second coordinate system. The autonomous driving system uses the second target path as the target path to perform the vehicle travel control.

Abstract: An automatic steering system comprises a controller. The controller executes target steering angle calculation processing. The controller further calculates a learning value of lateral acceleration. The learning value is calculated based on an error of a detected value of the lateral acceleration by an acceleration sensor and an estimation value of the lateral acceleration calculated using driving speed and yaw rate. In the target steering angle calculation processing, it is judged whether the acceleration sensor is normal. If it is judged that the acceleration sensor is normal, a target steering angle is calculated by using the detected value. Otherwise, the lateral acceleration used to calculate the target steering angle is switched from the detected value to a backup value of the lateral acceleration. The backup value is calculated using the estimation value and the learning value calculated before a timing at which the acceleration sensor is judged to be abnormal.

Abstract: An autonomous driving system mounted on a vehicle determines a target path based on necessary information and performs vehicle travel control such that the vehicle follows the target path. A first coordinate system is a vehicle coordinate system at a first timing when the necessary information is acquired. A second coordinate system is a vehicle coordinate system at a second timing later than the first timing. The autonomous driving system calculates, based on the necessary information acquired at the first timing, a first target path defined in the first coordinate system. Then, the autonomous driving system corrects the first target path to a second target path defined in the second coordinate system by performing coordinate transformation from the first coordinate system to the second coordinate system. The autonomous driving system uses the second target path as the target path to perform the vehicle travel control.

Abstract: Provided is a control apparatus for a vehicle configured to perform steering assist control and driving support control based on a motor control amount, the control apparatus being further configured to correct the motor control amount such that a specific steering amount in a second period becomes smaller than that in a first period, the specific steering amount being an amount of change in a steering angle required for a magnitude of a steering torque to reach a torque threshold, the first period being a period from a first time point at which a driving support operation state is changed to an on state to a second time point at which a driving operation switching request is issued, and the second period being a period from the second time point to a third time point at which the driving support operation state is changed to an off state.

Abstract: An autonomous driving system mounted on a vehicle determines a target path based on necessary information and performs vehicle travel control such that the vehicle follows the target path. A first coordinate system is a vehicle coordinate system at a first timing when the necessary information is acquired. A second coordinate system is a vehicle coordinate system at a second timing later than the first timing. The autonomous driving system calculates, based on the necessary information acquired at the first timing, a first target path defined in the first coordinate system. Then, the autonomous driving system corrects the first target path to a second target path defined in the second coordinate system by performing coordinate transformation from the first coordinate system to the second coordinate system. The autonomous driving system uses the second target path as the target path to perform the vehicle travel control.

Abstract: A vehicle driver assistance system includes: a steering assist torque generation device configured to generate steering assist torque; a control device configured to control the steering assist torque generation device; and a switch configured to switch a steering mode between a manual steering mode and an automatic steering mode. The manual steering mode is a mode in which steered wheels are steered as a driver operates a steering wheel. The automatic steering mode is a mode in which the steered wheels are steered by the steering assist torque generated by the steering assist torque generation device.

Abstract: A turning mechanism of a vehicle turns a wheel and is coupled to a steering wheel through a steering shaft. A torque sensor detects a torque applied to a first position of the steering shaft, as a sensor-detected torque. An upper friction torque is an absolute value of the sensor-detected torque that is caused by a friction force acting on the steering shaft between the first position and the steering wheel when the steering shaft is rotated. A vehicle control system repeatedly estimates the upper friction torque and variably sets a determination threshold to the estimated upper friction torque or more. The vehicle control system determines whether a driver state is a hands-on state or a hands-off state based on a comparison between the absolute value of the sensor-detected torque and the determination threshold.

Abstract: A vehicle control system includes an information acquirer configured to acquire vehicle surrounding information, and a controller configured to execute driving assistance control. The controller is configured to set a first line as a target traveling line when an operation status of the driving assistance control is ON. The controller is configured to set, when a driving switching request is made, the target traveling line to cause a vehicle to travel along a second line displaced from the first line by a predetermined displacement amount after a specific timing that is a timing when a predetermined time has elapsed from a requested timing.

Abstract: A driving assistance control system of a vehicle includes a needed information acquisition unit configured to acquire needed information for calculating a target path, a target path deciding unit configured to decide the target path based on the needed information, a vehicle traveling controller configured to perform a path following control for controlling a traveling device of the vehicle such that the vehicle follows the target path, and a system limit identification unit configured to identify a likelihood of reaching a system limit at which the path following control becomes unsuccessful. The system limit identification unit includes a determination model that learns a relationship between a plurality of vehicle feature amounts and the likelihood of reaching the system limit by machine learning in advance, and outputs an identification result of the likelihood of reaching the system limit corresponding to the input vehicle feature amounts using the determination model.

Abstract: Provided is a control apparatus for a vehicle configured to perform driving support control when a driving support operation state is an on state, the control apparatus being further configured to, in a case where the driving support operation state is the on state and a driving operation switching request for changing the driving support operation state to an off state is issued, calculate a target speed at a driving operation switching time point at which the driving support operation state is changed from the on state to the off state, and perform deceleration control for decelerating the vehicle such that a speed of the vehicle matches the target speed at the driving operation switching time point.

Abstract: The steering control apparatus determines whether or not a deviation degree of a current traveling route of a vehicle with respect to a target traveling route is equal to or more than a predetermined threshold, when steering control is switched from manual steering control to automatic steering control. In the automatic steering control, a command steering angle is calculated so that a difference between a real traveling route of the vehicle and the target traveling route is eliminated. However, when the deviation degree is equal to or more than the predetermined threshold, the steering control apparatus recalculates the command steering angle used in the command steering angle tracking control based on a steering angle at the time of starting the automatic steering control and the command steering angle so that a real steering angle after switching to the automatic steering control changes gradually to the command steering angle.

Abstract: A vehicle control system includes: an electric power steering device that generates an assist torque that assists turning of a wheel caused by a steering wheel rotation; a controller that controls the electric power steering device to generate the assist torque according to the steering wheel rotation in a normal mode; and a state sensor that detects a vehicle travel state and a state of an occupant at a driver's seat. When the occupant at the driver's seat performs a getting-on action or a getting-off action when the vehicle is in an ignition-ON state, the controller controls the electric power steering device in a temporal mode. In the temporal mode, the controller changes a method of controlling the electric power steering device such that the steering wheel rotation is suppressed as compared with a case of the normal mode.

Abstract: The steering control apparatus determines whether or not a deviation degree of a current traveling route of a vehicle with respect to a target traveling route is equal to or more than a predetermined threshold, when steering control is switched from manual steering control to automatic steering control. In the automatic steering control, a command steering angle is calculated so that a difference between a real traveling route of the vehicle and the target traveling route is eliminated. However, when the deviation degree is equal to or more than the predetermined threshold, the steering control apparatus recalculates the command steering angle used in the command steering angle tracking control based on a steering angle at the time of starting the automatic steering control and the command steering angle so that a real steering angle after switching to the automatic steering control changes gradually to the command steering angle.

Abstract: A steering assistance device includes a steering wheel to which a driver of a vehicle inputs steering torque, a steering shaft connected to the steering wheel, a steering mechanism configured to convert a rotation of the steering shaft into a steering angle for steering target wheels, a steering actuator configured to drive the steering mechanism such that a steering angle corresponding to a command value is generated, a steering torque sensor configured to detect torque acting on the steering shaft, an information providing unit configured to provide road information of a scheduled passage area extending in a traveling direction of the vehicle, and an electronic control unit configured to control the steering actuator, based on an output of the steering torque sensor and the road information.

Abstract: A driving support control system includes a steering device and a control device. The control device performs a target value calculating process of calculating a target value; a first steering angle calculating process of calculating, as a first steering angle, a steering angle for causing a vehicle motion parameter to coincide with the target value; an actual value calculating process of calculating an actual value of the vehicle motion parameter; a second steering angle calculating process of calculating, as a second steering angle, a steering angle for cancelling out an external force based on a difference value between the actual value and the target value; a target steering angle calculating process of calculating, as a target steering angle, a summed value of the first and second steering angles; and a control process of controlling the steering device so that the steering angle coincides with the target steering angle.

Abstract: An override conciliating portion executes processing to conciliate an override request during an execution of automated driving control (i.e., override conciliation processing). In the override conciliation processing, it is determined whether or not there is the override request (step S20). If the determination result of the step S20 is positive, it is determined whether or not a second automated driving mode is selected as an operation mode (step S21). If the determination result of the step S21 is negative, acceptance processing of the override request is executed (step S22). If the determination result of the step S21 is positive, invalidation processing of the override request is executed (step S23).

Abstract: The vehicle controller according to the present disclosure estimates disturbance acting on a vehicle, and performs driving assistance responsive to the disturbance. When reliability of the estimated disturbance is low, the vehicle controller lowers an assistance level of the driving assistance as compared with a case where the reliability is high. Thereby, it is possible to restrain the driving assistance responsive to the disturbance from causing a driver to feel uncomfortable.