Abstract: A vehicle includes a steering device, a torque sensor, and an electronic control unit. The steering device includes a rack shaft, a steering shaft, and a turning actuator including an electric motor connected to the rack shaft or the steering shaft via a motion conversion mechanism. The torque sensor is configured to detect a steering torque by a driver, the torque sensor being attached to the steering shaft. The electronic control unit is configured to switch from turning of the wheels by an automatic steering control to turning of the wheels based on at least a steering operation by the driver in a case where a torque detected by the torque sensor exceeds a torque threshold value during execution of the automatic steering control of the wheels. The torque threshold value is changed in accordance with a temperature of the motion conversion mechanism.

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: An ADK is attachable to and removable from a VP and issues an instruction for autonomous driving to the VP. The VP includes a steering system for steering of the VP. (An ADS of) the ADK includes a compute assembly and communication module configured to communicate with the VP. The compute assembly obtains from the VP, a prescribed reference on which control of a wheel steer angle is premised, calculates the steer angle in accordance with a driving plan for autonomous driving based on the obtained prescribed reference, and transmits a wheel steer angle command indicating the calculated steer angle to the VP. When the attachable and removable ADK that issues the instruction for autonomous driving controls the VP, without storage of the prescribed reference on which control of the wheel steer angle is premised in advance in the ADK, control suited to a base vehicle can be carried out.

Abstract: An ADK is attachable to and removable from a VP and issues an instruction for autonomous driving to the VP. The VP includes a steering system for steering of the VP. (An ADS of) the ADK includes a compute assembly and a communication module configured to communicate with the VP. The compute assembly obtains from the VP, a torque value relating to a steering system 33 through the communication module and transmits to the VP, a wheel steer angle command indicating the wheel steer angle in accordance with a driving plan for autonomous driving and the obtained torque value. Even when a user intervenes with an operation while the attachable and removable ADK that issues the instruction for autonomous driving controls the VP, stable steering can be achieved.

Abstract: An ADS performs processing including setting an initial value of a wheel steer angle command when an autonomous state has been set to an autonomous mode, obtaining a limitation of a rate, setting a wheel steer angle limitation as the wheel steer angle command when magnitude of the initial value is larger than the wheel steer angle limitation, and transmitting the wheel steer angle command.

Abstract: A vehicle system, including: an on-board device mounted on a vehicle; and a control device configured to control the on-board device such that the vehicle travels in a target traveling state, wherein the control device includes: a predicting portion that predicts a state of the on-board device when the vehicle travels in the target traveling state; and a modifying portion that modifies the target traveling state when the control device determines based on the state of the on-board device predicted by the predicting portion that an operation of the on-board device needs to be limited.

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: Provided is a vehicle travel support apparatus including: a normal control module configured to execute travel support control; a correction control module configured to execute correction control in addition to the travel support control when a state of the vehicle is brought into an abnormal state during the execution of the travel support control; and a compensation control module configured to, when a finish condition is satisfied during the execution of the correction control, stop both the travel support control and the correction control and execute compensation control.