Abstract: A driving mode of a VP set in each of main and sub VCIBs is switchable to an autonomous or manual driving mode. When a two-system failure occurs while the driving mode set in the main/sub VCIB is the autonomous driving mode, a base vehicle carries out control for emergency stop of the base vehicle and the main/sub VCIB controls an output unit to output a prescribed sign in a prescribed manner, the two-system failure being a failure that makes communication or control via the first and second paths impossible. The main/sub VCIB sets the prescribed manner in accordance with a request from an ADK.

Abstract: At the time of occurrence of a one-system failure, each of VCIBs carries out limp home traveling control including deceleration in accordance with an instruction from an ADK. At the time of occurrence of a two-system failure, in a case where a vehicle speed can be obtained, one of vehicle fixation systems carries out fixation control, when the vehicle speed becomes zero, and in a case where the vehicle speed cannot be obtained, one of the vehicle fixation systems carries out the fixation control after a lapse of a time period S from a time-counting start moment, when the vehicle speed immediately before the occurrence of the two-system failure is less than a prescribed value, and carries out the fixation control after a lapse of a time period T (>S), when the vehicle speed immediately before the occurrence of the two-system failure exceeds the prescribed value.

Abstract: A VP includes: a base vehicle including first/second function units that perform a specific function used for autonomous/manual drivings; main/sub VCIBs that relay control communication between an ADK and the first/second function units via first/second paths, respectively; and a power switch. A driving mode of the VP set in each of the main/sub VCIBs is switchable to an autonomous or manual driving mode. When a two-system failure occurs in a case where the driving mode set in the main/sub VCIB is the autonomous driving mode, the first/second function unit carries out emergency stop control, the two-system failure being a failure that makes communication or control via the first/second paths impossible. When an operation of switching off the base vehicle by the power switch is accepted after the emergency stop control is carried out, the main/sub VCIB switches the driving mode set in the main/sub VCIB to the manual driving mode.

Abstract: A vehicle comprises a vehicle control interface box and a vehicle system. The vehicle control interface box includes a first controller and a second controller. The vehicle system is configured to be capable of receiving a command from an autonomous driving kit through each of a first path via the first controller and a second path via the second controller. When only one of the plurality of paths fails while the vehicle is autonomously driven, the vehicle system continues the autonomous driving based on a command received from the autonomous driving kit through a path other than the failed path. When the first and second paths both fail while the vehicle is autonomously driven, the vehicle system applies autonomous deceleration control to control a brake device to decelerate the vehicle.

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 mobile object control system includes: a higher-level ECU that calculates a requested physical quantity according to each of switchable first and second higher-level applications; a lower-level ECU that receives the requested physical quantity and calculates an actuator command value for causing the detected physical quantity to follow the requested physical quantity according to the first or second lower-level application while switching the first and second lower-level applications along with switching the higher-level applications; and an actuator. The first and second lower-level applications implement controls different in followability of the detected physical quantity to the requested physical quantity.

Abstract: The travel control device includes an abnormality detection unit that detects an abnormality of the first automated driving control unit and the second automated driving control unit, a first switching unit that switches to the automated driving control of the other of the first automated driving control unit and the second automated driving control unit when one of the first automated driving control unit and the second automated driving control unit during the automated driving control is detected to be abnormal, a permission unit that instructs the end of the automated driving control to the first automated driving control unit and the second automated driving control unit, and a second switching unit that switches between the automated driving control and the manual driving control in response to an instruction from the permission unit.

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: 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: 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 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 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: 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: 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.