Abstract: A vehicle control device includes an offset unit configured to execute offset processing for offsetting the target lateral position such that the target lateral position is separated from the first lane, when a relationship between the first vehicle and the vehicle satisfies an offset condition. The offset unit is configured not to execute the offset processing even if the relationship between the first vehicle and the vehicle satisfies the predetermined offset condition, when a vehicle-to-vehicle distance between the second vehicle and the vehicle is equal to or less than a predetermined distance or when a value obtained by dividing the vehicle-to-vehicle distance between the second vehicle and the vehicle by a relative speed between the second vehicle and the vehicle is equal to or less than a predetermined time.

Abstract: A vehicle control device includes an offset unit configured to execute offset processing for offsetting the target lateral position such that the target lateral position is separated from the first lane, when a relationship between the first vehicle and the vehicle satisfies an offset condition. The offset unit is configured not to execute the offset processing even if the relationship between the first vehicle and the vehicle satisfies the predetermined offset condition, when a vehicle-to-vehicle distance between the second vehicle and the vehicle is equal to or less than a predetermined distance or when a value obtained by dividing the vehicle-to-vehicle distance between the second vehicle and the vehicle by a relative speed between the second vehicle and the vehicle is equal to or less than a predetermined time.

Abstract: A control device of a powertrain system executes a control input determination processing and a system control processing. The control input determination processing includes a co-state variable determination processing to update a co-state variable p of an optimization problem for each time step and a control input calculation processing. The co-state variable determination processing includes an initial value determination processing that determines, as an initial value of the co-state variable p, the sum of a base value of the initial value and an external charge/discharge correction value. The base value is a final value or an average value of the co-state variable p during the last control time period. The external charge/discharge correction value is determined based on an external charge/discharge amount obtained by subtracting a SOC at the end of the last control time period from the SOC at the start of the current control time period.

Abstract: A powertrain system includes an internal combustion engine, an electric motor, a battery and a control device. The control device is configured to: execute a control input determination processing to solve an optimization problem that minimizes a fuel consumption amount mf during the control time period while taking dynamics of a charging rate SOC as a constraint, and thereby calculate one or more control input values; and execute a system control processing. The control input determination processing includes: a co-state variable determination processing to update a co-state variable p for each time step while using, as an initial value thereof, a final value or an average value thereof during the last control time period; and a control input calculation processing to use the determined co-state variable p and search for and calculate, for each time step, the one or more control input values that minimize an Hamiltonian H.

Abstract: A vehicle control device includes an offset unit configured to execute offset processing for offsetting the target lateral position such that the target lateral position is separated from the first lane, when a relationship between the first vehicle and the vehicle satisfies an offset condition. The offset unit is configured not to execute the offset processing even if the relationship between the first vehicle and the vehicle satisfies the predetermined offset condition, when a vehicle-to-vehicle distance between the second vehicle and the vehicle is equal to or less than a predetermined distance or when a value obtained by dividing the vehicle-to-vehicle distance between the second vehicle and the vehicle by a relative speed between the second vehicle and the vehicle is equal to or less than a predetermined time.

Abstract: A powertrain system includes one or more torque devices associated with the control of the driving force of a vehicle, and a control device configured to control the one or more torque devices. The control device is configured to act as: a first manipulated variable determination section that solves a linear programming problem to determine, based on one or more linear state equations that define a relationship between one or more state quantities controlled by the powertrain system and one or more manipulated variables of the one or more torque devices, the one or more manipulated variables such that one or more target state quantities are maximally achieved within one or more constraints of the powertrain system; and a torque device control section that controls the one or more torque devices in accordance with the one or more manipulated variables determined by the first manipulated variable determination section.

Abstract: The disclosure is directed to solving a full trajectory optimization problem in real-time for a hybrid electric vehicle (HEV) such that future driving conditions and energy usage may be fully considered in determining optimal engine energy usage and battery energy usage in real-time during a trip. An electronic control unit of the HEV may be configured to: receive route information for a route to be driven by the HEV; and after receiving the route information, iterating the operations of: measuring a current state of charge (SOC) of the battery; using at least the measured SOC and an initial co-state value stored in a memory, performing a process to iteratively update the co-state value to obtain an updated co-state value; using at least the updated co-state value, computing an updated control value; and applying the updated control value to control a usage of the battery and the internal combustion engine.

Abstract: A control device of a powertrain system executes a control input determination processing and a system control processing. The control input determination processing includes a co-state variable determination processing to update a co-state variable p of an optimization problem for each time step and a control input calculation processing. The co-state variable determination processing includes an initial value determination processing that determines, as an initial value of the co-state variable p, the sum of a base value of the initial value and an external charge/discharge correction value. The base value is a final value or an average value of the co-state variable p during the last control time period. The external charge/discharge correction value is determined based on an external charge/discharge amount obtained by subtracting a SOC at the end of the last control time period from the SOC at the start of the current control time period.

Abstract: A failure diagnosis apparatus according to the present disclosure is applied to a variable compression ratio mechanism that can switch the compression ratio of an internal combustion engine between at least a first compression ratio and a second compression ratio lower than the first compression ratio. When the variable compression ratio mechanism is controlled so as to set the compression ratio of the internal combustion engine to the second compression ratio, the failure diagnosis apparatus advances the ignition timing of one cylinder to a knock inducing ignition timing more advanced than the MBT that does not lead to the occurrence of knock if the actual compression ratio of that cylinder is the second compression ratio but leads to the occurrence of knock if the actual compression ratio of that cylinder is the first compression ratio and diagnoses failure of the variable compression ratio mechanism on the basis of whether knock occurs or not.

Abstract: A powertrain system includes an internal combustion engine, an electric motor, a battery and a control device. The control device is configured to: execute a control input determination processing to solve an optimization problem that minimizes a fuel consumption amount mf during the control time period while taking dynamics of a charging rate SOC as a constraint, and thereby calculate one or more control input values; and execute a system control processing. The control input determination processing includes: a co-state variable determination processing to update a co-state variable p for each time step while using, as an initial value thereof, a final value or an average value thereof during the last control time period; and a control input calculation processing to use the determined co-state variable p and search for and calculate, for each time step, the one or more control input values that minimize an Hamiltonian H.

Abstract: A powertrain system includes one or more torque devices associated with the control of the driving force of a vehicle, and a control device configured to control the one or more torque devices. The control device is configured to act as: a first manipulated variable determination section that solves a linear programming problem to determine, based on one or more linear state equations that define a relationship between one or more state quantities controlled by the powertrain system and one or more manipulated variables of the one or more torque devices, the one or more manipulated variables such that one or more target state quantities are maximally achieved within one or more constraints of the powertrain system; and a torque device control section that controls the one or more torque devices in accordance with the one or more manipulated variables determined by the first manipulated variable determination section.

Abstract: The disclosure is directed to solving a full trajectory optimization problem in real-time for a hybrid electric vehicle (HEV) such that future driving conditions and energy usage may be fully considered in determining optimal engine energy usage and battery energy usage in real-time during a trip. An electronic control unit of the HEV may be configured to: receive route information for a route to be driven by the HEV; and after receiving the route information, iterating the operations of: measuring a current state of charge (SOC) of the battery; using at least the measured SOC and an initial co-state value stored in a memory, performing a process to iteratively update the co-state value to obtain an updated co-state value; using at least the updated co-state value, computing an updated control value; and applying the updated control value to control a usage of the battery and the internal combustion engine.

Abstract: A control device predicts whether temporary reduction occurs to a charging efficiency of fresh air in an in-cylinder gas by an influence of an EGR rate of the in-cylinder gas, which increases later than increase of a charging efficiency of the in-cylinder gas, if a first arithmetic operation is applied to calculating a target throttle opening degree based on a target charging efficiency which is increasing, in a case of shifting to an acceleration operation, by using a prediction model expressing dynamic characteristics of an internal combustion engine. When it is predicted that temporary reduction occurs to the charging efficiency of the fresh air, the control device calculates the target throttle opening degree by a second arithmetic operation by which an increase speed of a throttle opening degree is restrained more than by the first arithmetic operation, instead of calculating the target throttle opening degree by the first arithmetic operation.

Abstract: A failure diagnosis apparatus according to the present disclosure is applied to a variable compression ratio mechanism that can switch the compression ratio of an internal combustion engine between at least a first compression ratio and a second compression ratio lower than the first compression ratio. When the variable compression ratio mechanism is controlled so as to set the compression ratio of the internal combustion engine to the second compression ratio, the failure diagnosis apparatus advances the ignition timing of one cylinder to a knock inducing ignition timing more advanced than the MBT that does not lead to the occurrence of knock if the actual compression ratio of that cylinder is the second compression ratio but leads to the occurrence of knock if the actual compression ratio of that cylinder is the first compression ratio and diagnoses failure of the variable compression ratio mechanism on the basis of whether knock occurs or not.

Abstract: A control device predicts whether temporary reduction occurs to a charging efficiency of fresh air in an in-cylinder gas by an influence of an EGR rate of the in-cylinder gas, which increases later than increase of a charging efficiency of the in-cylinder gas, if a first arithmetic operation is applied to calculating a target throttle opening degree based on a target charging efficiency which is increasing, in a case of shifting to an acceleration operation, by using a prediction model expressing dynamic characteristics of an internal combustion engine. When it is predicted that temporary reduction occurs to the charging efficiency of the fresh air, the control device calculates the target throttle opening degree by a second arithmetic operation by which an increase speed of a throttle opening degree is restrained more than by the first arithmetic operation, instead of calculating the target throttle opening degree by the first arithmetic operation.