Abstract: In a parking assistance device, a target parking position calculation unit calculates a target parking position of a subject vehicle based on a position of a corner point of a parking space. A constraint condition setting unit sets a constraint condition regarding a target parking route for guiding the subject vehicle to the target parking position based on a position and a posture angle of the subject vehicle, peripheral information of the subject vehicle, and the position of the corner point of the parking space. The constraint condition includes a condition that a curvature change rate of the target parking route is continuous. A target parking route calculation unit calculates the target parking route based on the position and the posture angle of the subject vehicle, the position of the corner point of the parking space, the target parking position, and the constraint condition.

Abstract: In a parking assistance device, a target parking position calculation unit calculates a target parking position of a subject vehicle based on a position of a corner point of a parking space. A constraint condition setting unit sets a constraint condition regarding a target parking route for guiding the subject vehicle to the target parking position based on a position and a posture angle of the subject vehicle, peripheral information of the subject vehicle, and the position of the corner point of the parking space. The constraint condition includes a condition that a curvature change rate of the target parking route is continuous. A target parking route calculation unit calculates the target parking route based on the position and the posture angle of the subject vehicle, the position of the corner point of the parking space, the target parking position, and the constraint condition.

Abstract: A travel direction estimation device mounted on a vehicle including a position detector and an angular velocity detector to estimate a travel direction of the vehicle includes: a first angle processor calculating a first angle based on a change of a position of the vehicle being detected in the position detector and updated at a predetermined time interval, a second angle processor calculating a second angle based on a rotational angular velocity of the vehicle being detected in the angular velocity detector and a detection interval of the position of the vehicle in the position detector, and a travel direction processor calculating the travel direction of the vehicle based on the first angle and the second angle. The travel direction estimation device can estimate a travel direction of a vehicle with a high degree of accuracy.

Abstract: A travel direction estimation device mounted on a vehicle including a position detector and an angular velocity detector to estimate a travel direction of the vehicle includes: a first angle processor calculating a first angle based on a change of a position of the vehicle being detected in the position detector and updated at a predetermined time interval, a second angle processor calculating a second angle based on a rotational angular velocity of the vehicle being detected in the angular velocity detector and a detection interval of the position of the vehicle in the position detector, and a travel direction processor calculating the travel direction of the vehicle based on the first angle and the second angle. The travel direction estimation device can estimate a travel direction of a vehicle with a high degree of accuracy.

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 control apparatus having high robustness while ensuring the accuracy of automatic parking. The steering control apparatus includes a target parking position computing module to calculate a target parking position, a target line computing module to calculate a target parking line, an own vehicle position target attitude angle computing module to calculate an own vehicle position target attitude angle, an own vehicle attitude angle, and the target parking line, an own vehicle position target curvature computing module to calculate an own vehicle position target curvature, and a steering controller for calculating a target steering angle based on the own vehicle position target curvature and performing control such that the actual steering angle matches the target steering angle.

Abstract: Provided is a vehicle steering control apparatus having high robustness while ensuring the accuracy of automatic parking in a vehicle equipped with an automatic parking assistance system. The vehicle steering control apparatus includes a target parking position computing module to calculate a target parking position, a target line computing module to calculate a target parking line, an own vehicle position target attitude angle computing module to calculate an own vehicle position target attitude angle, an own vehicle attitude angle, and the target parking line, an own vehicle position target curvature computing module to calculate an own vehicle position target curvature, and a steering controller for calculating a target steering angle based on the own vehicle position target curvature and performing control such that the actual steering angle matches the target steering angle.

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 low-cost torque detection apparatus is obtained using wheel revolution sensors which are generally provided in a conventional ABS and an engine revolution sensor which is generally provided in a conventional engine fuel jet controller. The apparatus can be used, for example, in a vehicle having a drive source, such as an engine or a motor, for driving wheels which is coupled to the right and left wheels by respective shafts having torsional stiffness for transmitting a drive torque through a differential gear. The apparatus includes a drive source revolution angle detection device for the drive source and wheel revolution angle detection means for the right and left wheels, and calculates torques of shafts such as drive shafts for coupling the differential gear to the wheels using a torque calculator.