A combination vehicle includes a tractor including a steered wheel and a trailer towed by the tractor A control device for the combination vehicle includes an estimation unit. The estimation unit estimates a length of the trailer based on a mathematical expression obtained by solving, for the length of the trailer, simultaneous equations including an equation of motion for a hitch angle velocity that is a time rate of change in a hitch angle and an equation of motion for a virtual steering angle velocity that is a time rate of change in a virtual steering angle of the trailer. The mathematical expression includes the virtual steering angle velocity as a parameter.
A processor of a driving assistance system that assists with avoidance of collision with a target in driving of a host vehicle is configured to: adjust the phase of a requested yaw rate (Y_c) requested from the host vehicle to advance further than a phase which is according to a driving trajectory (Td) planned for the host vehicle for collision avoidance; and control the left-right distribution of a braking force (Fb) imparted to a wheel from a braking actuator in the host vehicle to be a braking distribution (Ab) correlated with the requested yaw rate (Y_c), which has been adjusted to advance.
B60W 30/09 - Taking automatic action to avoid collision, e.g. braking and steering
B60T 7/12 - Brake-action initiating means for automatic initiationBrake-action initiating means for initiation not subject to will of driver or passenger
B60W 10/184 - Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
B60W 10/20 - Conjoint control of vehicle sub-units of different type or different function including control of steering systems
According to the present invention, a processor of a driving assistance system for assisting avoidance of collision with an object during driving of a host vehicle is configured to execute: turning control of the host vehicle in an avoidance direction (Da) for avoiding collision before the risk of collision of the host vehicle with the object increases to a collision avoidance range in which the host vehicle is requested to perform collision avoidance; and cooperative control of a braking force (Fb) and a steering angle (θs) that are applied to a wheel from an actuator system in response to the collision risk reaching the collision avoidance range in the host vehicle that has been subjected to the turning control in the avoidance direction (Da), in accordance with a drive trajectory (Td) planned for the host vehicle to achieve collision avoidance.
B60W 30/09 - Taking automatic action to avoid collision, e.g. braking and steering
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
B60W 50/10 - Interpretation of driver requests or demands
A processor of a driving assistance system is configured to determine a driving trajectory of an avoidance control period (Pa) and control a steering angle (θ) and a braking force (Fb) in accordance with the driving trajectory. The determination of the driving trajectory includes: selecting a control mode for matching a response characteristic estimated in the avoidance control period (Pa) from between a singular control mode (Ms) for controlling a turning orientation of a host vehicle (2) in the avoidance control period (Pa) via singular adjustment of the steering angle (θ), and a cooperative control mode (Mc) for controlling the turning orientation in the avoidance control period (Pa) via cooperation of the steering angle (θ) and the braking force (Fb); determining a driving trajectory so as to define a requested yaw rate (Yr) for the control achieved via singular adjustment of the steering angle (θ) in the singular control mode (Ms); and determining a driving trajectory so as to define a requested yaw rate (Yr) for the control achieved via cooperation of the steering angle (θ) and the braking force (Fb) in the cooperative control mode (Mc).
B60W 30/09 - Taking automatic action to avoid collision, e.g. braking and steering
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
A control device (16) of a parking assistance device (10) executes parking assistance control. The parking assistance control includes at least one of post-parking control and pre-parking control. The post-parking control is control that is executed in a state in which a vehicle (1) is parked in a parking space. When a first trigger is detected, the control causes the vehicle to move to a position where at least a part of the vehicle protrudes from the parking space and where the occupants of the vehicle 1 including the driver can easily get on and off. The pre-parking control is control that is executed in a state in which the vehicle is stopped in a position where the vehicle is outside the parking space or a part of the vehicle protrudes from the parking space, and where the occupants of the vehicle can easily get on and off. When a second trigger is detected, the control causes the vehicle to be parked in the parking space.
B60R 99/00 - Subject matter not provided for in other groups of this subclass
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
In a control apparatus, upon determination that an obstacle has a collision possibility, an operation determiner determines to instruct a notification system to issue, to an occupant, a notification related to the collision possibility with the obstacle. The operation determiner determines whether a collision-avoidance operation has been carried out by the occupant since the issuance of the notification. The operation determiner determines not to instruct the vehicle motion control system to execute a collision-avoidance assistance operation upon determination that (i) no collision-avoidance operations have been carried out by the occupant since the issuance of the notification and (ii) the obstacle having the collision possibility is a low-height object, the low-height object being defined as an object that has fallen on a road and has a height that is sufficiently low that the vehicle is enabled to pass over the obstacle.
B60T 8/58 - Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
B60Q 9/00 - Arrangement or adaptation of signal devices not provided for in one of main groups
B60T 7/22 - Brake-action initiating means for automatic initiationBrake-action initiating means for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle
B60T 8/171 - Detecting parameters used in the regulationMeasuring values used in the regulation
B60T 8/172 - Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
A processor of an apparatus for learning a recognition rule of at least one parking slot around a vehicle is configured to execute learning program instructions to accordingly objectify at least one parking slot at least partly included in a learning image as an at least one objectified parking slot comprised of (i) a plurality of corner points of the at least one parking slot, (ii) a center point of the at least one parking slot; and (iii) attribute information on the at least one parking slot. The processor is configured to execute learning program instructions to accordingly generate annotation data for the objectified at least one parking slot, and execute, from the learning image, learning of a recognition rule of the at least one parking slot based on the generated annotation data for the objectified at least one parking slot.
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
G06V 10/44 - Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersectionsConnectivity analysis, e.g. of connected components
G06V 10/70 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning
8.
CONTROL DEVICE, CONTROL METHOD, AND CONTROL PROGRAM
This control device (2) mounted on a vehicle comprises a processor (21) and a memory (22) which is a non-transitory tangible recording medium for storing program instructions used by the processor. The processor executes the following processes by executing the program instructions stored in the memory. The processor executes lane deviation prevention control on the basis of the result of recognizing the road situation at a travel destination of the vehicle. The processor estimates, on the basis of the result of recognizing a zebra zone adjacent to the lane in which a vehicle is currently traveling, an entrance accuracy corresponding to the probability the vehicle will enter the zebra zone. The processor suppresses the execution of the lane deviation prevention control to a greater degree when the entrance accuracy is higher.
B60W 40/08 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to drivers or passengers
B60W 50/14 - Means for informing the driver, warning the driver or prompting a driver intervention
A vehicle control device (70) comprises: an acquiring unit (91) that acquires a target curvature, which is the curvature of a target trajectory; an actual curvature calculating unit (92) that calculates an actual curvature, which is the curvature of a travel trajectory of a vehicle; an instructed steering angle calculating unit (93) that calculates an instructed steering angle such that the instructed steering angle increases as the target curvature increases; and an instructed steering angle correcting unit (94) that, if the target curvature is greater than or equal to a curvature determination value, corrects the instructed steering angle by feedback control based on the target curvature and the actual curvature, and if the target curvature is less than the curvature determination value, does not correct the instructed steering angle by feedback control based on the target curvature and the actual curvature.
Control devices (80, 90) are configured to execute acquisition processing and notification processing. The acquisition processing is processing for acquiring a value of a turning angular velocity variable. The turning angular velocity variable is a variable indicating a changing rate of a turning angle of a tractor. The notification processing is processing for notifying, by operating a notification device, that there is a risk of a trailer (10) swaying when the absolute value of the value of the turning angular velocity variable is equal to or greater than a threshold value. The notification device (116) is an interface for transmitting information to a person.
B60W 40/10 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to vehicle motion
B60W 40/12 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to parameters of the vehicle itself
B60W 50/14 - Means for informing the driver, warning the driver or prompting a driver intervention
A zero point estimation device is configured to perform a first acquisition process, a second acquisition process, and a zero point estimation process. The first acquisition process is a process of acquiring a plurality of first detection values of a first sensor sampled at different timings from each other while a vehicle is traveling with a change in a direction of travel. The second acquisition process is a process of acquiring a plurality of second detection values of a second sensor sampled in synchronization with the sampling timings of the first detection values to be acquired by the first acquisition process. The zero point estimation process is a process of estimating a zero point of the second sensor by using, as inputs, the plurality of first detection values acquired by the first acquisition process and the plurality of second detection values acquired by the second acquisition process.
A control device (80, 90) is configured to execute a towing information acquisition process and a towing time process. The towing information acquisition process is for acquiring information about whether a tractor is towing a trailer. The towing time process is a process in which, in a state in which the trailer is being towed, an operation target is operated in accordance with the values of operation input variables that are set to mitigate a yaw response of the vehicle to a turning instruction operation, as compared to a state in which the trailer is not being towed. The operation target is at least one among a steering system, a drive system, and a braking system, and the operation input variables are variables for determining input signals to the operation target.
B60W 40/10 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to vehicle motion
B60W 40/12 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to parameters of the vehicle itself
The present invention is provided with: a performance information acquisition unit (141) that acquires performance information; a reference output schedule determination unit (145) that determines, without using a drive response delay time and a braking response delay time, an output schedule of a required braking/driving force, which is the braking force required by the braking device and the driving force required by the driving device, in order to decelerate according to a deceleration plan in which an automatic traveling control causes the vehicle to come to a stop at a target stopping position; and a braking/driving force control unit (146) that causes a request for the driving force to the driving device according to the reference output schedule to be performed at a timing earlier than the reference output schedule by an amount corresponding to the drive response delay time acquired by the performance information acquisition unit (141), and causes a request for the braking force to the braking device according to the reference output schedule to be performed at a timing earlier than the reference output schedule by an amount corresponding to the braking response delay time acquired by the performance information acquisition unit (141).
B60W 30/00 - Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
B60W 10/04 - Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
B60W 10/18 - Conjoint control of vehicle sub-units of different type or different function including control of braking systems
A motion manager for a vehicle, includes one or more processors configured to: receive motion requests from a plurality of applications, one or more of the applications being travel applications for controlling at least one of an acceleration of the vehicle or a steering angle of the vehicle, and another one or more of the applications being human-machine interface (HMI) applications for implementing transfer of information from the vehicle to an occupant; perform arbitration of the motion requests that have been received; when the motion requests have been received from the HMI applications, calculate the instruction information based on a different type arbitration result obtained by arbitrating the motion requests from the HMI applications and the result of the arbitration of the motion requests from the travel applications; and output the calculated instruction information to a control device for the actuator.
This image display control device for a vehicle comprises: an interface circuit (11) that acquires a viewpoint change operation of a user with respect to a viewpoint operation device (3) and a captured image from a camera (1) that captures an image of the surroundings of the vehicle; a memory (12) that memorizes a vehicle model; and an arithmetic circuit (13) that forms, using the captured image and a vehicle image based on the vehicle model, a bird's-eye view image from the changed viewpoint position, in accordance with the changed viewpoint position with respect to the vehicle in response to the viewpoint change operation, and that causes a display (4) to display the formed bird's-eye view image. The arithmetic circuit: realizes a first transmittance as a transmittance at which the captured image transmits the vehicle image in one part of a portion where the vehicle image overlaps with the captured image in the bird's-eye view image; realizes a second transmittance higher than the first transmittance as a transmittance at which the captured image transmits the vehicle image in another part; and changes, in accordance with the changed viewpoint position, a range of a two-dimensional position coordinates occupied by a portion which realizes the first and second transmittance in the bird's-eye view image.
H04N 7/18 - Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
B60K 35/00 - Instruments specially adapted for vehiclesArrangement of instruments in or on vehicles
B60R 1/27 - Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
B60R 1/28 - Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with an adjustable field of view
The present invention is provided with: a performance information acquisition part (141) that acquires performance information; a required range determination part (142) that determines a required range in which it is estimated that a specified accuracy can be guaranteed; a necessary braking/driving force determination part (144) that determines necessary braking/driving force during travel under automatic travel control of a host vehicle; a controllability determination part (143) that determines a high-controllability device and a low-controllability device from among a driving device and a braking device; an allocation determination part (145) that determines, from among the braking/driving force determined by the necessary braking/driving force determination part (144), the braking/driving force to be allocated to the low-controllability device to be a constant value within the required range, and determines a portion borne outside of the constant value to be a value within the required range for the high-controllability device; and a braking/driving force control part (146) that, during the travel of the host vehicle, applies control so that driving force generated by the driving device and braking force generated by the braking device achieve the values determined by the allocation determination part (145).
A vehicle control device (100) comprises: a parking detection unit (11) that detects at least one of a parked vehicle and a parking space by using the detection result of a sensor device; a storage control unit (12) that causes a storage device (20) to store relative position information indicating the relative position of at least one of the parked vehicle and the parking space with respect to a vehicle; and a parking-row identification unit (14) that identifies a parking row by using the stored relative position information and detected position coordinates.
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
B60K 28/10 - Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
B60W 30/188 - Controlling power parameters of the driveline, e.g. determining the required power
B60W 50/12 - Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
F02D 11/10 - Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
G08G 1/09 - Arrangements for giving variable traffic instructions
G08G 1/14 - Traffic control systems for road vehicles indicating individual free spaces in parking areas
18.
CONTROL DEVICE AND PARKING LOT DETERMINATION METHOD
A control device (100) comprises: a parking-possible position acquisition unit (10) that acquires, as a parking-possible position, a parking vehicle (PV) or a parking frame (PF) which is included in an image captured of an area ahead of a vehicle (500); and a parking space determination unit (20) that determines, as a parking space (PS), a range which includes a quadrangle surrounding a plurality of parking-possible positions that are contiguous in a first direction from a starting point, which is one parking-possible position, and a plurality of parking-possible positions that are contiguous in a second direction, which intersects the first direction, from the starting point.
A vehicle control device to be applied to a vehicle including parking brakes provided in association with right and left wheels and configured to be driven to bring the wheels into a non-rotatable state includes a processor. The processor is configured to acquire abnormality occurrence information on each of the right and left parking brakes. The processor is configured to, when an abnormality condition that a drive command is output to each of the parking brakes and one of the parking brakes has an abnormality is satisfied, control a device other than the parking brakes in the vehicle to suppress rotation of the wheel provided with the parking brake having the abnormality.
B60T 17/22 - Devices for monitoring or checking brake systemsSignal devices
B60T 13/74 - Transmitting braking action from initiating means to ultimate brake actuator with power assistance or driveBrake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
20.
Control device for vehicle, control method for vehicle, and non-transitory storage medium
A control device for a vehicle includes one or more processors configured to: perform feedback control on an acceleration of the vehicle by controlling a driving force of an internal combustion engine mounted on the vehicle based on a difference between a requested acceleration of the vehicle from an application and an actual acceleration of the vehicle; calculate a first predicted acceleration that is a predicted acceleration of the vehicle on an assumption that the internal combustion engine is controlled into a fuel-cut state; and control the internal combustion engine into the fuel-cut state without performing the feedback control when a coasting condition that is predetermined is satisfied and the first predicted acceleration is equal to or higher than a lower limit value that is predetermined as a negative value.
B60W 50/00 - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
B60W 10/06 - Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
B60W 10/188 - Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes hydraulic brakes
This vehicular control device comprises: a performance information acquisition part (141) that acquires performance information; a compensation section time determination part (143) that determines, as compensation section time, the longer one of drive response delay time and braking response delay time; a required braking/driving force determination part (144) that determines, as a required driving force and a required braking force, a driving force and a braking force which maintain a relationship, in which the braking force is at least equal to or greater than the driving force, and satisfy conditions that the driving force and the braking force respectively fall within a driving force range and a motive force range; a required following time identification part (145) that identifies required following time estimated to be taken from the start of response to the realization of the required driving force and the required braking force; and a braking/driving force control part (147) that maintains the required driving force and the required braking force determined by the required braking/driving force determination part (144) at the starting of the vehicle until the compensation section time and the required following time subsequent thereto elapse.
A jackknife suppression device is configured to execute an acquisition process, a prediction process, a determination process, and a treatment process. The acquisition process is a process of acquiring a hitch angle variable and a steered angle variable. The prediction process is a process of calculating a predicted value of the hitch angle using the hitch angle variable and the steered angle variable as inputs. The determination process is a process of determining whether there is a high risk that a jackknife occurs using the predicted value and the steered angle variable as inputs. The treatment process is a process of operating predetermined hardware in order to suppress occurrence of the jackknife when it is determined that the risk is high.
B60W 40/12 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to parameters of the vehicle itself
B60W 50/00 - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
An automatic parking system (10) for parking a vehicle M by causing the vehicle to travel automatically comprises a vehicle state detecting unit (100) for detecting a vehicle state including at least the position and steering angle of the vehicle, a reference route storage unit (200) for storing a reference route (Wr) comprising a plurality of waypoints (Pw1 to Pw15), which are points at which the vehicle state is indicated when the vehicle travels to a target point by being driven by a driver, a parking route setting unit (300) for setting a parking route (Wp) from an automatic parking start point (Pst) to the target point, and a vehicle control unit (400) for controlling the vehicle to travel along the parking route, wherein the parking route setting unit sets the parking route with a neutral point, which is a point at which the steering angle is neutral, among the plurality of waypoints, as a provisional end point.
A vehicle control device includes a command unit that generates a command value for an actuator and causes a vehicle to travel by outputting the command value to a control unit, a state quantity acquiring unit that acquires at least two values of a vehicle state quantity among a vehicle state quantity ideal value, a vehicle state quantity detection value, and a vehicle state quantity operation value, an event storage unit that stores multiple events that can occur when the vehicle on-board device is not functioning normally, an event acquiring unit that compares at least two values of the vehicle state quantity and acquires an event corresponding to a result of the comparison, and an anomaly determining unit that determines whether there is an anomaly in the vehicle on-board device by using a Bayesian network that includes, as a node, an occurrence probability of the event.
This articulated vehicle (10) is provided with a tractor (20) and a trailer (30). A control device for the articulated vehicle is configured to execute setting processing and non-transmission turning processing. The setting processing is processing for setting the target turning angle of non-transmission turning wheels by using the value of a trailer sway variable as an input. The trailing sway variable includes at least one of a variable indicating yaw angle behavior of the articulated vehicle and a front wheel turning angle variable. The front wheel turning angle variable indicates the turning angle of the front-wheel turning wheels of the tractor. The non-transmission turning processing is processing for turning the non-transmission turning wheels in response to the target turning angle set by the setting processing.
This parking assistance device comprises: a path setting unit (11) for setting target paths (R1-R3) by using a detection result of a sensor device (200); a control region setting unit (12) for setting first control regions (Ar1, Ar1a) and second control regions (Ar2, Ar2a) along the target path; and an operation control unit (13). The first control region is larger than the second control region. The center of the first control region is located farther away from a vehicle as compared with the center of the second control region. The operation control unit controls operation so that the vehicle speed becomes equal to or less than a threshold speed when an obstacle has been detected in the first control region, and controls operation so as to bring the vehicle to a halt at a predetermined deceleration when an obstacle has been detected in the second control region.
A periphery monitoring apparatus is applied for a vehicle provided with a ranging sensor that transmits probe waves and receives reflection waves of the probe waves, setting a precaution region in a laterally rear side of an own vehicle and causing a collision avoidance operation to be executed when the ranging sensor detects an object in the precaution region. The periphery monitoring apparatus is provided with an acquiring unit that acquires lane information indicating presence or absence of a lane marking on a traffic lane; a recognition unit that recognizes a position of the lane marking based on the lane information; and a precaution region setting unit that sets the precaution region based on the position of the lane marking recognized by the recognition unit.
This parking assistance device (110) for assisting parking of a vehicle (10) is provided with: a position acquisition unit (111) for acquiring a vehicle position, which is the position of the vehicle; a route acquisition unit (112) for acquiring a plurality of routes, which are routes from the vehicle position to a plurality of parking positions; a determination unit (113) for determining whether or not it is possible to execute automatic parking in which the vehicle (10) is parked at the parking position by traveling on any one of the plurality of routes; a proposal unit (114) for proposing the automatic parking before the vehicle (10) passes through the branch points of the plurality of routes when the automatic parking can be executed; and a parking control unit (115) for executing the automatic parking by using the selected route.
A motion manager for a vehicle includes one or more processors, and the one or more processors are configured to: receive acceleration request values from a plurality of applications and driver assistance levels associated with the respective acceleration request values; select the smallest acceleration request value of the plurality of acceleration request values received; select the highest driver assistance level of the plurality of driver assistance levels received; and while outputting a specified value according to the selected acceleration request value to an actuator of the vehicle, stop the output of the specified value under a condition according to the selected driver assistance level.
A motion manager for a vehicle includes one or more processors. The one or more processors are configured to: receive acceleration request values from a plurality of applications and driver assistance levels associated with the respective acceleration request values; select the highest driver assistance level of the driver assistance levels received; select the smallest acceleration request value of the acceleration request values associated with the selected driver assistance level; output a specified value according to the selected acceleration request value to an actuator of the vehicle; and stop the output of the specified value under a condition according to the selected driver assistance level.
A vehicle automatically gets out of a parking area toward a location required by an user. A relative position between a communication terminal carried by the user and the vehicle is determined according to one of detection processes corresponding to a communication state between the communication terminal and one or more of sensor units on the vehicle. An out-of-parking target position is set based on a detection result of the position detection, and an optimum out-of-parking target position is calculated by updating the out-of-parking target position when the position detection has a higher reliability than the currently set out-of-parking target position while getting out of the parking area. An autonomous driving operation of the vehicle is controlled to get out of the parking area toward the out-of-parking target position.
A control apparatus for a moving body generates a trajectory plan that is a plan indicating a lateral position of the moving body at each point when the moving body is caused to travel along a predetermined route. The control apparatus generates a speed plan that is a plan indicating a traveling speed of the moving body at each point when the moving body is caused to travel along the route. The control apparatus causes the moving body to travel based on both the trajectory plan and the speed plan. The control apparatus generates the speed plan as a plan for causing the moving body to travel based on the trajectory plan after the the trajectory plan is generated.
A motion manager includes one or more processors configured to: receive a stop holding request for keeping a vehicle in a stopped state as one of motion requests from application software; and output an instruction value for turning ON a hydraulic brake to the hydraulic brake on a condition that the stop holding request is received. The one or more processors are configured to continue outputting the instruction value to a parking brake regardless of a presence or absence of the stop holding request, when outputting an instruction value for turning ON a parking brake to the parking brake after starting outputting the instruction value and until switching of the parking brake to an ON state is completed.
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
recorded computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; recorded computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; recorded computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; recorded computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable video files and movie files featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable video files and movie files featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable video files and movie files featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable video files and movie files featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; recorded compact discs, video discs and video tapes featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; recorded compact discs, video discs and video tapes featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; audio and video recordings featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; audio and video recordings featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; audio and video recordings featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; audio and video recordings featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable musical sound recordings; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers, recorded on computer media; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers, recorded on computer media; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control recorded on computer media; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control recorded on computer media; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control. design, development and maintenance of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; design, development and maintenance of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; providing online non-downloadable computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; providing online non-downloadable computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; design, programming and maintenance of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; design, programming and maintenance of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media recorded with computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; rental of electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media recorded with computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; rental of electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media recorded with computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media recorded with computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; rental of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; computer engineering; rental of computers; design of machines, apparatus and instruments, and their parts, as well as systems composed thereof; technological advice relating to the operation of computers, computer software, computer programs, automobiles and industrial machines; testing and research of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; testing and research of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; testing and research of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; testing and research of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; software as a service (SaaS) featuring computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; platform as a service (PaaS) featuring computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers.
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
recorded computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; recorded computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; recorded computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; recorded computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable video files and movie files featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable video files and movie files featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable video files and movie files featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable video files and movie files featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; recorded compact discs, video discs and video tapes featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; recorded compact discs, video discs and video tapes featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; audio and video recordings featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; audio and video recordings featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; audio and video recordings featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; audio and video recordings featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable musical sound recordings; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers, recorded on computer media; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers, recorded on computer media; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control recorded on computer media; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control recorded on computer media; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control. design, development and maintenance of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; design, development and maintenance of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; providing online non-downloadable computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; providing online non-downloadable computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; design, programming and maintenance of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; design, programming and maintenance of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media recorded with computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; rental of electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media recorded with computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; rental of electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media recorded with computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media recorded with computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; rental of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; computer engineering; rental of computers; design of machines, apparatus and instruments, and their parts, as well as systems composed thereof; technological advice relating to the operation of computers, computer software, computer programs, automobiles and industrial machines; testing and research of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; testing and research of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; testing and research of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; testing and research of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; software as a service (SaaS) featuring computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; platform as a service (PaaS) featuring computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers.
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
recorded computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; recorded computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; recorded computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; recorded computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable video files and movie files featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable video files and movie files featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable video files and movie files featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable video files and movie files featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; recorded compact discs, video discs and video tapes featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; recorded compact discs, video discs and video tapes featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; audio and video recordings featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; audio and video recordings featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; audio and video recordings featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; audio and video recordings featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable musical sound recordings; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers, recorded on computer media; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers, recorded on computer media; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control recorded on computer media; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control recorded on computer media; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control. design, development and maintenance of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; design, development and maintenance of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; providing online non-downloadable computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; providing online non-downloadable computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; design, programming and maintenance of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; design, programming and maintenance of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media recorded with computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; rental of electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media recorded with computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; rental of electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media recorded with computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media recorded with computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; rental of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; computer engineering; rental of computers; design of machines, apparatus and instruments, and their parts, as well as systems composed thereof; technological advice relating to the operation of computers, computer software, computer programs, automobiles and industrial machines; testing and research of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; testing and research of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; testing and research of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; testing and research of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; software as a service (SaaS) featuring computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; platform as a service (PaaS) featuring computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers.
A vehicle parking assistance system (100, 101, 102) comprises: a traveling state determination unit (29) that determines the traveling state of a vehicle; an environment recognition unit (21) that recognizes an environment around the vehicle; an assistance level determination unit (30) that determines the assistance level of parking of the vehicle in accordance with the traveling state and the environment; and a parking control unit (31) that performs parking control in accordance with the determined assistance level.
A brake control device includes a processor that controls a brake device of a vehicle. The processor receives a first braking request indicating first braking force by the brake device which is requested from an application that implements a driver assistance function of the vehicle. The processor receives a second braking request indicating second braking force by the brake device which is requested depending on an operation amount of a brake pedal of the vehicle. The processor starts override control when the processor receives the second braking request while the processor controls the brake device in accordance with the first braking request.
B60T 7/22 - Brake-action initiating means for automatic initiationBrake-action initiating means for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle
B60T 8/171 - Detecting parameters used in the regulationMeasuring values used in the regulation
B60T 8/172 - Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
39.
Information processing device, non-transitory storage medium, and information processing method
An information processing method includes receiving shift requests to control a shift range of a vehicle from a plurality of application software products configured to implement driver assistance functions of the vehicle, arbitrating the shift requests by using, as a condition, whether each of the received shift requests is a request in a traveling range or a request in a parking range, when the traveling range is the shift range in which a driving wheel of the vehicle is rotatable and the parking range is the shift range in which the driving wheel is not rotatable, and generating an instruction value for an action request to drive an actuator based on a result of arbitration.
A vehicle display device includes a plurality of capturing sections, a combining section, a virtual viewpoint image generation section, a display section, a touch panel configured to receive input for changing a setting condition related to the virtual viewpoint on a virtual viewpoint image on the display section, and an image adjustment section configured to enable the virtual viewpoint to be set in the vehicle exterior or the vehicle interior and to move between the vehicle exterior and the vehicle interior, to adjust the virtual viewpoint image.
G06F 3/04815 - Interaction with a metaphor-based environment or interaction object displayed as three-dimensional, e.g. changing the user viewpoint with respect to the environment or object
B60R 1/23 - Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
G06F 3/04845 - Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range for image manipulation, e.g. dragging, rotation, expansion or change of colour
G06F 3/0488 - Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
An object recognition device is applied to a vehicle having a range sensor that transmits a probe wave and receives the reflected wave of the probe wave. The object recognition device is configured to recognize an object behind the own vehicle based on detection information of the range sensor. The object recognition device includes a tow determining unit configured to determine whether a towed vehicle is coupled to a rear of the own vehicle, and a changing unit configured to, in response to determining that the towed vehicle is coupled to the rear of the own vehicle, change how the range sensor detects an object to suppress reception of the reflected wave caused by presence of the towed vehicle.
An automated driving ECU (50b) as a vehicle control device autonomously controls driving of a host vehicle (Am). The automated driving ECU (50b) comprises an environment recognition unit (62) that recognizes environmental information at an intersection (IS). The automated driving ECU (50b) further comprises a vehicle attitude setting unit (76) that sets the angle (β) of a steering wheel (SW) in the host vehicle (Am) for when the host vehicle (Am) temporarily stops for a right or left turn at the intersection using the environmental information.
B60W 30/182 - Selecting between different operative modes, e.g. comfort and performance modes
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
43.
AUTOMATED DRIVING CONTROL DEVICE, AUTOMATED DRIVING CONTROL PROGRAM, AND AUTOMATED DRIVING CONTROL METHOD
An automated driving ECU is an automated driving control device that enables a host vehicle (Am) to travel by means of an automated driving function. The automated driving ECU determines the occurrence of an obstructing vehicle (Ao) impeding travel of the host vehicle (Am), and when the obstructing vehicle (Ao) has arisen in front of the host vehicle (Am), sequentially implements peeking control and overtaking control. In the peeking control, the host vehicle (Am) moves so as to peek at the situation ahead of the obstructing vehicle (Ao). Then, in the overtaking control, the host vehicle (Ao) overtakes the obstructing vehicle (Ao). When the obstructing vehicle (Ao) has arisen in an intersection area (IA) located in front of the host vehicle (Am), the automated driving ECU changes the content of at least one of the peeking control and the overtaking control in accordance with information grasped in relation to the intersection area (IA).
This automatic driving ECU is an automatic driving control device that enables travel by a host vehicle (Am) by an automatic driving function. When a planned travel route of the host vehicle (Am) is set to a connecting path (CL) connecting two traffic lanes separated in each direction by a median strip (MB), the automatic driving ECU acquires road information relating to the connecting path (CL). The automatic driving ECU avoids travel in the connecting path (CL) on the basis of the road information when it is estimated that the host vehicle would be caught in traffic congestion caused by the connecting path (CL).
An automatic driving ECU according to the present invention is an automatic driving control device that enables the travelling of a host vehicle (Am) according to an automatic driving function. In a scenario in which the host vehicle (Am) passes through an intersection (IS), the automatic driving ECU determines whether there is space for the host vehicle (Am) in the host vehicle lane (Lns) beyond the intersection (IS). If there is no space in the host vehicle lane (Lns), the automatic driving ECU decides to execute, at a section that includes the intersection (IS), a lane change in a direction leaving the host vehicle lane (Lns).
An automated driving ECU (50b) as a vehicle control device is configured to be capable of executing autonomous driving control of a host vehicle (Am). The automated driving ECU (50b) comprises an environment recognition unit (62) that identifies a situation in which the host vehicle (Am) is, and an action determination unit (63) that makes a determination related to driving. The environment recognition unit (62) identifies a situation in which driving the host vehicle (Am) along a planned route (PT) results in the host vehicle (Am) passing through a plurality of consecutive intersections (IS1, IS2). The action determination unit 63 is configured to change a mode to be set in the driving control to different settings depending on the difficulty level of driving control in the case where the vehicle (Am) passes through the plurality of consecutive intersections.
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
B60W 50/14 - Means for informing the driver, warning the driver or prompting a driver intervention
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
An automated driving ECU (50b) serving as a vehicle control device autonomously controls the driving of a host vehicle (Am). The automated driving ECU (50b) comprises an environment recognition unit (62) serving as an information grasping unit for grasping information, and an evasion control determining unit (76) for making a determination relating to autonomous driving control of the host vehicle (Am). The environment recognition unit (62) grasps information relating to the environment of an intersection (IS) through which the host vehicle (Am) is scheduled to travel, and information relating to an emergency vehicle (Em) present in the vicinity of the host vehicle (Am). The evasion control determining unit (76) determines whether to execute evasion control to evade the emergency vehicle (Em) on the basis of the environment of the intersection (IS).
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
B60W 50/14 - Means for informing the driver, warning the driver or prompting a driver intervention
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
G08G 1/09 - Arrangements for giving variable traffic instructions
An automatic driving control ECU is an automatic driving control device that enables the own vehicle (Am) to travel by automatic driving function. The automatic driving ECU determines a priority relationship between the own vehicle (Am) and another vehicle at a multi-stop intersection (MSI). In addition, the automatic driving ECU determines as to whether or not a connection road (CR) connected to the multi-stop intersection is narrow so as to make it difficult for the own vehicle (Am) and the other vehicle to pass each other. In a case where the connection road (CR) at the multi-stop intersection (MSI) is not narrow, the automatic driving ECU performs traveling control on the own vehicle (Am) in accordance with the priority relationship. Meanwhile, in a case where the connection road (CR) is narrow, the automatic driving ECU performs traveling control so as to give travel priority to the other vehicle.
A travel control device is configured to execute: a coasting travel process; a cruise travel process, a gradient information acquisition process acquiring, as gradient information, information indicating a gradient of a road surface on which a vehicle is traveling; a deviation variable acquisition process acquiring a deviation variable for determining an acceleration generated in the vehicle when the vehicle travels, by performing the coasting travel process, a downward slope having a predetermined gradient; and a switching process using the gradient information and the deviation variable as inputs and performing switching to the coasting travel process according to a value of the deviation variable even though a magnitude of the gradient of the road surface is different from a reference value.
A trailer is provided with an operating unit (52) mechanically connected to a steered wheel (22), and an actuator (60) for steering the steered wheel. An articulated vehicle control device (80) is configured to execute acquisition processing and steering control processing. The acquisition processing is processing for acquiring a vehicle speed and an angle detected value. The angle detected value is a detected value, obtained by a sensor, of a value of an angle variable related to steering of the articulated vehicle. The steering control processing includes vehicle speed dependent processing, which is processing for operating the actuator on the basis of the angle detected value, serving as an input variable. The vehicle speed dependent processing is processing whereby the responsiveness of the actuator operating amount with respect to a change in the angle detected value is reduced for a case in which the vehicle speed is low compared to a case in which the vehicle speed is high.
JACKKNIFE COUNTERMEASURE DEVICE FOR COUPLED VEHICLE, JACKKNIFE COUNTERMEASURE METHOD FOR COUPLED VEHICLE, AND JACKKNIFE COUNTERMEASURE PROGRAM FOR COUPLED VEHICLE
A jackknife countermeasure device for a coupled vehicle (50) is configured to execute determination processing and countermeasure processing. The determination processing is processing for determining whether a logical product of the following is positive: a magnitude of a value of a steering angle variable being greater than or equal to a prescribed value; the value of the steering angle variable being a value of one of right turning and left turning and a value of a hitch angle variable being a value of the other of the right turning and the left turning; and an increase speed of the magnitude of the value of the hitch angle variable being greater than or equal to a threshold. The steering angle variable is a variable that expresses a steering angle of a steering wheel of the coupled vehicle. The hitch angle variable is a variable that expresses an angle formed between a front-back direction of a tractor and a front-back direction of a trailer. The countermeasure processing is processing for countering jackknifing, and is executed when a determination is made that the logical product is positive at a time of backing up of the coupled vehicle.
B62D 6/00 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
B62D 13/06 - Steering specially adapted for trailers for backing a normally-drawn trailer
B62D 113/00 - Position of parts of the steering mechanism, e.g. the steered wheels or the steering wheel
B62D 115/00 - Angle of articulation of articulated vehicleAngle of tow-bar to towing vehicle
52.
BACKWARD MOVEMENT CONTROL DEVICE FOR ARTICULATED VEHICLE, COMPUTER-READABLE MEDIUM STORING BACKWARD MOVEMENT CONTROL PROGRAM FOR ARTICULATED VEHICLE, AND BACKWARD MOVEMENT CONTROL METHOD FOR ARTICULATED VEHICLE
A backward movement control device performs a backward movement control of an articulated vehicle including a tractor that includes steered wheels and a trailer towed by the tractor. The tractor is equipped with a steering control device that executes feedback control for causing a steered angle of the steered wheels of the tractor to follow a target steered angle. The backward movement control device includes a control unit configured to calculate the target steered angle such that a virtual steered angle follows a target virtual steered angle when a backward movement operation of the articulated vehicle is performed. The virtual steered angle is a steered angle of steered wheels that are virtually present in the trailer if the trailer is regarded as a rigid vehicle. The target virtual steered angle is a target value of the virtual steered angle that is set through a specific operation by an operator.
This coupled vehicle is provided with a tractor and a trailer which is towed by the tractor. A coupled vehicle calculation device (50) is configured so as to execute curvature variable acquisition processing, trailer length variable acquisition processing and virtual steering angle calculation processing. The curvature variable acquisition processing involves acquiring a curvature variable value. The curvature variable expresses the curvature of the travel path of the trailer. The trailer length variable acquisition processing involves acquiring a trailer length variable value. The trailer length variable expresses the length of the trailer. The virtual steering angle calculation processing involves calculating a virtual steering angle α2, with the curvature variable value and the trailer length variable value as inputs. The virtual steering angle α2 expresses the direction of displacement at the coupling site between the trailer and the tractor.
A display control device executes a calculation acceleration acquisition processing and a display processing. The calculation acceleration acquisition processing includes a process of acquiring a calculation acceleration variable that indicates a calculated acceleration of a vehicle in response to a driving state of the vehicle or a driving state of the vehicle that generates the calculated acceleration. The display processing includes a process of displaying an image that is visible to an occupant of the vehicle by operating a display device, and includes an image variation process of changing the image in response to the calculation acceleration variable.
B60K 35/28 - Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics informationOutput arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the purpose of the output information, e.g. for attracting the attention of the driver
B60W 50/14 - Means for informing the driver, warning the driver or prompting a driver intervention
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
Recorded computer software for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; downloadable computer software for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; recorded computer programs for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; downloadable computer programs for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; recorded computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; recorded computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable video files and movie files featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable video files and movie files featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable video files and movie files featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable video files and movie files featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; recorded compact discs, video discs and video tapes featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; recorded compact discs, video discs and video tapes featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; audio and video recordings featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; audio and video recordings featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; audio and video recordings featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; audio and video recordings featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self--driving and vehicle motion control; downloadable musical sound recordings; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers, recorded on computer media; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers, recorded on computer media; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control recorded on computer media; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control recorded on computer media; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; all of the foregoing goods and services sold or provided exclusively to automotive manufacturers, component suppliers dealing with automotive manufacturers and end users of the relevant automotive vehicles Design, development and maintenance of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on--board monitoring system of vehicle drivers and passengers; design, development and maintenance of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; providing online non-downloadable computer software for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; providing online non-downloadable computer programs for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; design, programming and maintenance of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; design, programming and maintenance of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer software recorded on electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; rental of computer programs recorded on electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; rental of computer programs recorded on electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media recorded for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer software recorded on electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media recorded for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer software for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; rental of computer programs for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; rental of computers; design of machines, apparatus and instruments, and their parts, as well as systems composed thereof, for automated driving; technological advice relating to the operation of computers, computer software, computer programs, automobiles and industrial machines; testing and research of computer software for electronic control unit (ECU) for automobile engines for the purpose of self--driving and vehicle motion control; testing and research of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; testing and research of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; testing and research of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; software as a service (SaaS) featuring computer software for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; platform as a service (PaaS) featuring computer software for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; all of the foregoing goods and services sold or provided exclusively to automotive manufacturers, component suppliers dealing with automotive manufacturers and end users of the relevant automotive vehicles
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
Recorded computer software for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; downloadable computer software for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; recorded computer programs for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; downloadable computer programs for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; recorded computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; recorded computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable video files and movie files featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable video files and movie files featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable video files and movie files featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable video files and movie files featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; recorded compact discs, video discs and video tapes featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; recorded compact discs, video discs and video tapes featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; audio and video recordings featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; audio and video recordings featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; audio and video recordings featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; audio and video recordings featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self--driving and vehicle motion control; downloadable musical sound recordings; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers, recorded on computer media; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers, recorded on computer media; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control recorded on computer media; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control recorded on computer media; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; all of the foregoing goods and services sold or provided exclusively to automotive manufacturers, component suppliers dealing with automotive manufacturers and end users of the relevant automotive vehicles Design, development and maintenance of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on--board monitoring system of vehicle drivers and passengers; design, development and maintenance of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; providing online non-downloadable computer software for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; providing online non-downloadable computer programs for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; design, programming and maintenance of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; design, programming and maintenance of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer software recorded on electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; rental of computer programs recorded on electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; rental of computer programs recorded on electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media recorded for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer software recorded on electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media recorded for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer software for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; rental of computer programs for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; rental of computers; design of machines, apparatus and instruments, and their parts, as well as systems composed thereof, for automated driving; technological advice relating to the operation of computers, computer software, computer programs, automobiles and industrial machines; testing and research of computer software for electronic control unit (ECU) for automobile engines for the purpose of self--driving and vehicle motion control; testing and research of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; testing and research of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; testing and research of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; software as a service (SaaS) featuring computer software for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; platform as a service (PaaS) featuring computer software for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; all of the foregoing goods and services sold or provided exclusively to automotive manufacturers, component suppliers dealing with automotive manufacturers and end users of the relevant automotive vehicles
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
Recorded computer software for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; downloadable computer software for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; recorded computer programs for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; downloadable computer programs for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; recorded computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; recorded computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable video files and movie files featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable video files and movie files featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable video files and movie files featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable video files and movie files featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; recorded compact discs, video discs and video tapes featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; recorded compact discs, video discs and video tapes featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; audio and video recordings featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; audio and video recordings featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; audio and video recordings featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; audio and video recordings featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self--driving and vehicle motion control; downloadable musical sound recordings; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers, recorded on computer media; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers, recorded on computer media; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control recorded on computer media; electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control recorded on computer media; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; downloadable electronic publications, namely, books, magazines and manuals featuring instruction regarding the operation of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; all of the foregoing goods and services sold or provided exclusively to automotive manufacturers, component suppliers dealing with automotive manufacturers and end users of the relevant automotive vehicles Design, development and maintenance of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on--board monitoring system of vehicle drivers and passengers; design, development and maintenance of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; providing online non-downloadable computer software for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; providing online non-downloadable computer programs for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; design, programming and maintenance of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; design, programming and maintenance of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer software recorded on electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; rental of computer programs recorded on electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; rental of computer programs recorded on electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media recorded for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer software recorded on electronic circuits, magnetic discs, magnetic tapes, optical discs, magnetic optical discs and other media recorded for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer software for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; rental of computer software for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; rental of computer programs for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; rental of computers; design of machines, apparatus and instruments, and their parts, as well as systems composed thereof, for automated driving; technological advice relating to the operation of computers, computer software, computer programs, automobiles and industrial machines; testing and research of computer software for electronic control unit (ECU) for automobile engines for the purpose of self--driving and vehicle motion control; testing and research of computer programs for electronic control unit (ECU) for automobile engines for the purpose of self-driving and vehicle motion control; testing and research of computer software in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; testing and research of computer programs in the fields of automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring system of vehicle drivers and passengers; software as a service (SaaS) featuring computer software for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; platform as a service (PaaS) featuring computer software for automated driving, advanced drive safety support, automated parking, vehicle motion control and on-board monitoring for vehicle drivers and passengers; all of the foregoing goods and services sold or provided exclusively to automotive manufacturers, component suppliers dealing with automotive manufacturers and end users of the relevant automotive vehicles
58.
COUPLED VEHICLE CONTROL DEVICE, COUPLED VEHICLE CONTROL METHOD, AND COUPLED VEHICLE CONTROL PROGRAM
This coupled vehicle control device (90) comprises a tractor and a trailer that is towed by the tractor. The tractor is provided with an input unit (50) and steered wheels (22). The control device executes a switching determination process, a tractor steering process, and a trailer steering process. The switching determination process is a process for determining whether a reversing assist mode is in an on state or an off state. The tractor steering process is a process for steering the tractor in response to an input operation to the input unit when the reversing assist mode is in the off state. The trailer steering process is a process for operating the steering angle of the steered wheels in order to steer the trailer in accordance with the input operation to the input unit in a state in which motive power transmission between the input unit and the steered wheels is cut off when the reversing assist mode is in the on state.
A driving assistance apparatus is applied to a vehicle (VC) including a wheel-turning actuator (32) that turns a wheel and a brake actuator (41-44). The driving assistance apparatus is configured to detect, as a slip detection process (S22), slip of the vehicle on a road surface on which the vehicle is traveling. The limitation process (S24, S24a) limits the a braking force of the brake actuator to a smaller magnitude. The limitation process includes a process where the braking force of the brake actuator is limited to the smaller magnitude at least during the period over which the obstacle is being avoided when the wheel-turning actuator of the vehicle turns the wheel in order to avoid an obstacle and when the slip has been detected at the slip detection process.
B60T 8/1763 - Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface
B60W 30/09 - Taking automatic action to avoid collision, e.g. braking and steering
By a driving assistance apparatus, a driving assistance method, or a storage medium storing an assistance recommendation program, association is stored data, wherein the association data associates a plurality of traveling situations with a plurality of situation assistance processes, and each situation assistance process is a driving assistance process for a specific traveling situation, a value of a traveling situation variable is acquired, a human interface is operated to propose at least one of the plurality of situation assistance processes, and a setting of an approved situation assistance process is enabled.
B60W 30/09 - Taking automatic action to avoid collision, e.g. braking and steering
B60Q 1/14 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
This coupled vehicle is provided with a tractor and a trailer which is towed by the tractor. The coupled vehicle is provided with an interface (80) for a driver to indicate a target virtual steering angle which is a target value of a virtual steering angle. The virtual steering angle is a variable that indicates the advancing direction of a coupling portion of the trailer and the tractor. A control device (50) is configured to execute: a process to acquire the target virtual steering angle; a virtual steering angle control process for operating a steering system (60) of the coupled vehicle so as to control the virtual steering angle to the target virtual steering angle; and a process for limiting the absolute value of the vehicle speed of the coupled vehicle to a smaller value, using the target virtual steering angle as an input during the execution of the virtual steering angle control process.
[Problem] Provided is a reverse control device with which it is possible to start reversing a coupled vehicle under automated driving only when conditions for proper automated driving are met, and to stably perform reversing of the coupled vehicle under automated driving. [Solution] An automated driving ECU 71 functioning as a reverse control device is installed in a towing vehicle 11 of a coupled vehicle 1 in which a vehicle 12 to be towed is coupled to the towing vehicle 11, and the ECU 71 controls the towing vehicle 11 during automated reverse driving in which the coupled vehicle 1 is caused to reverse by automated driving. The automated driving ECU 71 starts automated reverse driving when towing reverse start conditions have been met, these conditions including the speed of the towing vehicle 11 being equal to or less than a predetermined value and the steering torque of the towing vehicle 11 being equal to or less than a predetermined value.
B60T 7/12 - Brake-action initiating means for automatic initiationBrake-action initiating means for initiation not subject to will of driver or passenger
B60W 10/04 - Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
B60W 10/184 - Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
B60W 10/20 - Conjoint control of vehicle sub-units of different type or different function including control of steering systems
[Solution] A control device is applied to a coupled vehicle comprising a tractor and a trailer towed by the tractor. The control device is configured to execute a state quantity acquisition process, a predicted trajectory information calculation process, and a display process. The state quantity acquisition process is a process of acquiring a state quantity of the coupled vehicle. The predicted trajectory information calculation process is a process of calculating predicted trajectory information for the trailer in accordance with the state quantity. The display process is a process of displaying the predicted trajectory information by operating a display device.
This control device is applied to a coupled vehicle provided with a tractor and a trailer towed by the tractor. The control device is configured to execute a hitch angle variable acquisition process, a steering angle variable acquisition process, a virtual steering angle variable calculation process, a target virtual steering angle variable acquisition process, and a feedback process.
[Problem] To provide a relative angle detection device which is for coupled vehicles and is capable of detecting the relative angle of a towed vehicle with respect to a towing vehicle without installing, on the towed vehicle, a mark to be imaged for detecting the relative angle with the towing vehicle. [Solution] This relative angle detection device 6 comprises: an imaging device 61 that is used in coupled vehicles 1 in which a towing vehicle 2 and a towed vehicle 3 are coupled by means of a towing-side coupling member 4 and a towed-side coupling member 5, the imaging device 61 imaging from one side of the towing vehicle 2 and the towed vehicle 3 to the other side; an irradiation device 62 that emits a marker light onto a position to be imaged by the imaging device 61; and an image analysis device 63 that analyzes the images captured by the imaging device 61 and detects the relative angle of the towed vehicle 3 with respect to the towing vehicle 2.
G01B 11/26 - Measuring arrangements characterised by the use of optical techniques for measuring angles or tapersMeasuring arrangements characterised by the use of optical techniques for testing the alignment of axes
66.
RELATIVE ANGLE DETECTION DEVICE FOR COUPLED VEHICLE
[Problem] To provide a relative angle detection device for a coupled vehicle with which it is possible to detect the relative angle of a towed vehicle relative to a towing vehicle without installing, on the towed vehicle, a marker for detecting the relative angle with respect to the towing vehicle. [Solution] This relative angle detection device 6 comprises: an imaging device 61 that is used on a coupled vehicle 1 where a towing vehicle 2 and a towed vehicle 3 are coupled via a towing-side coupling member 4 and a towed-side coupling member 5, and that is attached to the towed vehicle 3 side and images the towing vehicle 2; and a calculation processing device 62 that calculates the relative angle of the towed vehicle 3 relative to the towing vehicle 2 on the basis of information obtained from the imaging device 61.
G01B 11/26 - Measuring arrangements characterised by the use of optical techniques for measuring angles or tapersMeasuring arrangements characterised by the use of optical techniques for testing the alignment of axes
67.
TRAVEL ROUTE GENERATION DEVICE, VEHICLE CONTROLLER, AND COMPUTER-READABLE MEDIUM STORING TRAVEL ROUTE GENERATION PROGRAM
A controller computes availability of the vehicle that indicates a range reachable by the vehicle by actuation of the actuator and generates a first travel route within a range of the availability of the vehicle, as a travel route followed by the vehicle, when the vehicle travels along a road ahead of the vehicle from a present position. When the road includes a curve and the first travel route cannot be generated within the availability range, the controller sets a target position to a position in the road located before the curve and generates a second travel route within the availability range, as the travel route followed by the vehicle, to stop the vehicle at the target position.
A vehicle control device includes: a reaction device that applies a steering reaction force to a steering operation performed by a driver on a driver's vehicle; and a control device that executes steering reaction force control for controlling a value of the steering reaction force. The control device applies, to a steering operation, a reaction force having a reference value as a steering reaction force when a lane change of a driver's vehicle is not performed during execution of steering reaction force control. When the lane change of the driver's vehicle is performed, the control device sets the steering reaction force to be applied to the steering operation in a direction of the lane change of the driver's vehicle to a value smaller than the reference value.
A control device (42) of an articulated vehicle (10) has a normal mode, an unwell mode, and an abnormal mode as control modes of reverse assist control. The normal mode is a control mode which is set when an abnormality in a vehicle state quantity is not detected. The unwell mode is a control mode which is set when an abnormality in the vehicle state quantity is detected, and a substitute value for the vehicle state quantity is present. The abnormal mode is a control mode which is set when an abnormality in the vehicle state quantity is detected, and a substitute value for the vehicle state quantity is not present. The control device (42), when the control mode is set to the unwell mode, continues to execute the reverse assist control using a substitute value for the vehicle state quantity. The control device (42), when the control mode is set to the abnormal mode, executes a process for stopping the articulated vehicle.
A driving assistance apparatus includes an on-vehicle sensor and a driving assistance ECU. The ECU detects presence of a preceding vehicle traveling immediately forward of an own vehicle, on the basis of pieces of information from the sensor, chooses the preceding vehicle as a vehicle to follow, and controls a drive apparatus, a braking apparatus, and a steering apparatus such that the own vehicle follows the vehicle to follow. When the own vehicle follows a first vehicle chosen as the vehicle to follow and the speed of the own vehicle or the first vehicle is a predetermined threshold speed or lower, upon determination that the own vehicle can follow a second vehicle traveling faster than the own vehicle in a second lane located adjacent to a first lane in which the own vehicle is traveling, the ECU changes the vehicle to follow from the first vehicle to the second vehicle.
B60W 30/165 - Control of distance between vehicles, e.g. keeping a distance to preceding vehicle automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
A target object information communication device provided with a target object information transmission unit (67) that wirelessly transmits target object information, which is information about a target object, the presence of which has been recognized, said target object information communication device being provided with: a message acquisition unit (64) that acquires free space information from another target object information communication device, which is mounted on a moving body; a target object characteristic estimation unit (65) that estimates target object characteristics about the target object, including relative distance and direction of movement; and a prediction unit (66) that predicts whether or not the target object will move into a space where the moving body can move, on the basis of the target object characteristics and the free space information. In a case where the prediction unit predicts that the target object will move into the space where the moving body can move, the target object information transmission unit (67) assigns higher priority to the transmission of the target object information about the target object than in a case where the prediction unit does not predict that the target object will move into the space where the moving body can move.
A motion control device includes a request value acquisition unit that obtains a motion amount request value, a limit value setting unit that sets first to third motion amount limit values, a first command unit that sends a first motion amount command value based on the motion amount request value and a first motion amount limit value to a front wheel steering controller, a second command unit that sends a second motion amount command value based on a first remaining request value and a second motion amount limit value to a rear wheel steering controller, and a third command unit that sends a command corresponding to a third motion amount command value based on a second remaining request value and a third motion amount limit value to a driving controller and a braking controller.
B62D 7/15 - Steering linkageStub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
B62D 6/00 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
A vehicle control apparatus is provided with a reliability determination unit that determines a reliability related to an own vehicle location as a current location of the own vehicle being in a parking place, using a detection result of a parking space or a parked vehicle around an own vehicle based on image data around the own vehicle captured by a camera; and an own vehicle location determination unit that determines whether the own vehicle location is in the parking place, using a determination result of the reliability determined by the reliability determination unit.
B60W 40/12 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to parameters of the vehicle itself
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
76.
Vehicle controller, computer-readable medium storing vehicle control program, and vehicle control method
A vehicle includes a sideslip preventing function of preventing a sideslip of the vehicle by separately adjusting a longitudinal force applied to each of the wheels. A controller controls the vehicle based on requests input from a driver assistance device, thereby causing the vehicle to travel autonomously. The controller calculates wheel lateral force request values based on the requests input from the driver assistance device. The wheel lateral force request values are request values of lateral forces acting on the respective wheels. The controller, when a behavior of the vehicle is in an oversteer state in a case in which the sideslip preventing function is failing, limits the wheel lateral force request values for the front wheels to values less than or equal to a first lateral force limit value, which is a limit value of the lateral force that can act on the rear wheels.
A zero point estimation device is configured so as to execute a first acquisition process, a second acquisition process, and a zero point estimation process. The first acquisition process is a process of acquiring a plurality of first detection values sampled by a first sensor (70) at different timings while a vehicle is traveling including changing the direction of travel. The second acquisition process is a process of acquiring a plurality of second detection values sampled by a second sensor (74) in synchronization with the sampling timing of the first detection values acquired in the first acquisition process. The zero point estimation process is a process of estimating the zero point of the second sensor, using, as inputs, the plurality of first detection values acquired by the first acquisition process and the plurality of second detection values acquired by the second acquisition process.
A jackknifing suppression device (50) is configured to execute an acquisition process, a prediction process, a determination process, and a response process. The acquisition process acquires a hitch angle variable and steering angle variable, the hitch angle variable being a variable indicating the hitch angle, that is, the angle between the longitudinal direction of a tractor (20) and the longitudinal direction of a trailer (30), and the steering angle variable being a variable indicating the steering angle of the tractor. The prediction process calculates a predicted value of the hitch angle, given the hitch angle variable and the steering angle variable as inputs. The determination process determines whether there is a high risk of jackknifing, given the predicted value and the steering angle variable as inputs. The response process operates predetermined hardware to keep jackknifing from occurring when the risk is determined to be high.
This automatic unloading system (20) automatically unloads a vehicle when there is an unloading request (Sb) for a parked vehicle (2). The automatic unloading system (20) comprises a position detection unit (26), an unloading target calculation unit (28), and a vehicle control unit (17). The position detection unit (26) detects a relative position between the vehicle and a communication terminal by processing, according to a communication state, any one of a plurality of detection processings using wireless communications between the communication terminal (21) owned by a user and one or a plurality of sensor units (27) provided in the vehicle body (8). The unloading target calculation unit (28) sets an unloading target position (Pa) from the detection result from the position detection unit, and when, in the middle of the unloading, the position can be detected by highly reliable detection processing, updates the unloading target position on the basis of the detection result. The vehicle control unit (17) controls automatic travel of the vehicle so that the vehicle can be unloaded to the unloading target position.
B60R 99/00 - Subject matter not provided for in other groups of this subclass
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
B60W 50/08 - Interaction between the driver and the control system
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
G01S 5/02 - Position-fixing by co-ordinating two or more direction or position-line determinationsPosition-fixing by co-ordinating two or more distance determinations using radio waves
G01S 13/931 - Radar or analogous systems, specially adapted for specific applications for anti-collision purposes of land vehicles
H04W 4/40 - Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
H04W 64/00 - Locating users or terminals for network management purposes, e.g. mobility management
This control device (10) for a mobile body (MV) comprises: a first plan creation unit (13) for creating a track plan that is a plan indicating the transverse position of a mobile body at each of points when causing the mobile body to travel along a predetermined path; a second plan creation unit (14) for creating a speed plan that is a plan indicating the traveling speed of the mobile body at each of the points when causing the mobile body to travel along the path; and traveling control units (15, 16) for causing the mobile body to travel according to both the track plan and the speed plan. After the first plan creation unit has created the track plan, the second plan creation unit creates the speed plan as a plan for causing the mobile body to travel according to the track plan.
This vehicle control system has a processor and controls a host vehicle. The processor of the vehicle control system is configured to establish a future action plan that includes the position and motion state of the host vehicle. The processor is configured to execute acquisition of a predicted control amount at a future predicted time based on a delay time of a response relating to traveling control in the host vehicle from the action plan. The processor is configured to execute determination of a current output control amount corresponding to the predicted control amount.
B60W 30/00 - Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
B60W 50/00 - Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
82.
WRONG-WAY TRAVEL DETERMINATION DEVICE, WRONG-WAY TRAVEL DETERMINATION METHOD, AND WRONG-WAY TRAVEL DETERMINATION PROGRAM
This wrong-way travel determination device is configured to execute wrong-way travel determination processing (S20, S22) for determining, on the basis of a prescribed object (52) represented in image data corresponding to the output of a camera (10) directed to the forward direction of a vehicle, whether the vehicle is traveling the wrong-way. The prescribed object is an object disposed periodically along a merging road that merges with the road on which the vehicle is traveling. The wrong-way travel determination processing includes at least one of two processes, namely: a process of determining that the vehicle is traveling the wrong-way if the prescribed object is captured in each of two regions, namely a left side region and a right side region in a horizontal direction, represented in the image data; and a process of determining that the vehicle is traveling the wrong-way if the prescribed object is displaced from one end to the other end of the left-right ends of a region represented in the image data.
An object recognizing device (30) is applied to a vehicle provided with a distance measuring sensor (21) which transmits an exploratory wave and receives a reflected wave of the exploratory wave, and the object recognizing device (30) recognizes an object present at the rear of a host vehicle (40) on the basis of detection information from the distance measuring sensor. The object recognizing device comprises: a towing determination unit for determining whether a towed vehicle (41) is coupled to a rear portion of the host vehicle; and a modifying unit which, if it is determined that the towed vehicle is coupled to the rear portion of the host vehicle, modifies an object detection mode of the distance measuring sensor in order to suppress reception of reflected waves resulting from the presence of the towed vehicle.
Provided is a travel control device that executes a coasting process, a cruising process, a gradient information acquisition process (S72, S72a), a deviation variable acquisition process (S74, S74a, S86), and a switching process (S62). The coasting process causes a vehicle to coast. The cruising process keeps the speed of the vehicle at a set speed while giving priority to meeting a certain condition. The certain condition defines that when a preceding vehicle exists within a prescribed range in front of the vehicle, the distance to the preceding vehicle is maintained within a predetermined range. The gradient information acquisition process acquires gradient information about the road surface on which the vehicle is traveling. The deviation variable acquisition process acquires a deviation variable, independently of the gradient information, that specifies the acceleration that is generated on the vehicle when the vehicle travels through the coasting process on a downhill slope having a predetermined gradient. The switching process inputs the gradient information and the deviation variable and includes: a process for switching to the coasting process when the vehicle travels on a downhill slope while the cruising process is being executed; and a process for switching to the coasting process when the magnitude of the gradient is different according to the value of the deviation variable.
B60K 31/00 - Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
B60W 30/182 - Selecting between different operative modes, e.g. comfort and performance modes
A vehicle control device (100) comprises: a command unit (M10) that causes a vehicle (10) to travel by generating a command value for an actuator (41, 51, 61) and outputting the command value to a controller (42, 52, 62); a state amount acquisition unit (M20) that acquires at least two vehicle state amounts from among a vehicle state amount ideal value, a vehicle state amount detected value, and a vehicle state amount operating value; an event storage unit (M30) that stores a plurality of events that may occur in a case where any vehicle-mounted equipment is not normal; an event acquisition unit (M40) that compares the at least two vehicle state amounts acquired by the state amount acquisition unit (M20) and acquires, from among the plurality of events, an event corresponding to the comparison result; and an abnormality determination unit (M50) that uses a Bayesian network in which probabilities that the events acquired by the event acquisition unit (M40) will occur are used as nodes, and that determines whether an abnormality has occurred in the vehicle-mounted equipment.
In the present invention, a vehicle (10) includes: a plurality of vehicle devices configured so as to be capable of adjusting the amount of movement to the left/right of the vehicle (10); and a steering wheel lock mechanism (20). The plurality of vehicle devices include a front-wheel steering device (40), and other devices other than the front-wheel steering device (40). A control device (100) of the vehicle switches a state of the steering wheel lock mechanism (20) from an inactive state to an active state when an abnormality occurs in the front-wheel steering device (40). The control device (100) adjusts the amount of movement to the left/right of the vehicle (10) by activating the other devices if it has become impossible to rotate the steering wheel (11).
B60W 50/029 - Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
B60R 25/021 - Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens operating on the steering mechanism restraining movement of the steering column or steering wheel hub, e.g. restraining means controlled by ignition switch
B60T 7/12 - Brake-action initiating means for automatic initiationBrake-action initiating means for initiation not subject to will of driver or passenger
B60W 30/09 - Taking automatic action to avoid collision, e.g. braking and steering
B62D 6/00 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
B62D 7/08 - Steering linkageStub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in a single plane transverse to the longitudinal centre line of the vehicle
87.
SCENARIO GENERATION DEVICE AND SCENARIO GENERATION METHOD
NTT DATA Automobiligence Research Center, Ltd. (Japan)
Inventor
Ishikawa, Yuji
Tamura, Masakazu
Abstract
A scenario generation device includes: a real environment scene obtaining unit obtaining a real environment scene, which is a scene that occurs in a real environment, from a travel database that stores travel data of a real vehicle; a filter generation unit generating a filter for filtering candidate scenarios based on a frequency analysis result of analysis target data including the travel data showing the real environment scene; and an evaluation scenario determination unit determining an evaluation scenario by filtering the candidate scenarios comprehensively generated based on a mathematical model using the filter generated by the filter generation unit.
National University Corporation Tokai National Higher Education and Research System (Japan)
Inventor
Ito, Akira
Suzuki, Tatsuya
Okuda, Hiroyuki
Honda, Kohei
Abstract
A control device includes a model generation unit that generates a control model that formulates a task to be executed, and a task processing unit that causes the vehicle to execute the task by performing model prediction control using the control model. Assuming that a first state space is a state space of the control model used at an execution time of the first task, and a second state space is a state space of the control model used at an execution time of the second task, the task processing unit starts to cause the vehicle to execute the second task, after executing a transition process that is a process of making a value of a state variable that is commonly included in both the first state space and the second state space within a predetermined range that is allowed at the execution time of the second task.
The present invention comprises: a traffic environment setting unit (10) for setting a simulated traffic environment to a virtual space; a traffic flow simulation unit (30) for moving, in the simulated traffic environment, simulated movable bodies at least including a simulated vehicle; a driver state simulation unit (31) for successively determining the state of a simulated driver who is driving the simulated vehicle; a driver state detection device simulation unit (21) for successively determining the state of the simulated driver detected by a driver state detection device on the basis of an actual driver state that is the state of the simulated driver determined by the driver state simulation unit (31) and detection characteristics of the driver state detection device; and a vehicle device simulation unit (20) for successively determining operation of a simulated vehicle device mounted to the simulated vehicle on the basis of a detected driver state that is the state of the simulated driver determined by the driver state detection device simulation unit (21).
This parking assistance device (5) comprises a path generation unit (55) that generates a target path (TP) to be traveled by a vehicle during the parking of the vehicle on the basis of path information including a travel path of the vehicle when a parking operation of the vehicle (V) is performed by a user and information about the surroundings of the vehicle on the travel path. The parking assistance device comprises: a tracking control unit (57) that performs a tracking control process to automatically move the vehicle to a planned parking position along the target path; and an information providing unit (58) that provides information to the user. The information providing unit provides information relating to the planned parking position included in the path information, in a visual mode to the user before the start of the tracking control process.
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
A display control device (20) executes calculated acceleration acquisition processing (S12, S16, S30) and display processing (S20, S22, S32-S40, S54-S58, S60-S66). The calculated acceleration acquisition processing acquires a calculated acceleration variable. The calculated acceleration variable represents a calculated acceleration of a vehicle according to an operation state of the vehicle or the operation state in which the acceleration of the vehicle is generated. The display processing operates a display device (26) to display an image (80) visually recognizable by an occupant of the vehicle and includes image variation processing (S20, S22, S32-S40 S54-S58, S60-S64). The image variation processing inputs the calculated acceleration variable to change the image.
B60K 35/00 - Instruments specially adapted for vehiclesArrangement of instruments in or on vehicles
G09G 5/00 - Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators
G09G 5/36 - Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators characterised by the display of individual graphic patterns using a bit-mapped memory
G09G 5/377 - Details of the operation on graphic patterns for mixing or overlaying two or more graphic patterns
According to this vehicle control device (10) and vehicle control method, a prediction condition is provided as a termination condition for determining termination of sailing control. The prediction condition is fulfilled in the case when a vehicle is likely to approach moving obstacles other than a preceding vehicle positioned ahead on a driving lane currently traveling. With this configuration, it is possible to foresee a change in environment ahead of the ego vehicle during execution of sailing control and also to terminate the sailing control at an early stage in the case where the vehicle is likely to approach other moving obstacles.
A vehicle travel control apparatus includes an information acquiring section; a determining section that determines whether a special road terrain exists; and a speed control section that controls a speed of the subject vehicle. The speed control section is further configured to: when the special road terrain exists but a preceding vehicle does not exist, increase or decrease the speed of the subject vehicle with respect to a pre-set vehicle speed in the energy efficiency zone such that the energy efficiency is improved; and when the special road terrain and a preceding vehicle exists and the speed of the subject vehicle is planned to increase in the energy efficiency zone, control the speed of the subject vehicle in an inter-vehicle distance maintenance zone such that the subject vehicle has an inter-vehicle distance to the preceding vehicle longer than a pre-set inter-vehicle distance.
B60W 30/16 - Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
94.
BACKWARD MOVEMENT CONTROL DEVICE FOR ARTICULATED VEHICLE, COMPUTER-READABLE MEDIUM STORING BACKWARD MOVEMENT CONTROL PROGRAM FOR ARTICULATED VEHICLE, AND BACKWARD MOVEMENT CONTROL METHOD FOR ARTICULATED VEHICLE
A backward movement control device (40) carries out backward movement control for a articulated vehicle (10) including a tractor (11) having a steering wheel (11F) and a trailer (12) towed by the tractor (11). The tractor (11) is equipped with a steering control device (30D) that executes feedback control causing the steering angle of the steering wheel (11F) of the tractor (11) to follow a target steering angle. The backward movement control device (40) includes a control unit (42B) configured to compute the target steering angle such that a virtual steering angle follows a target virtual steering angle when a backward movement operation for the articulated vehicle (10) is performed. The virtual steering angle is the steering angle of a steering wheel that exists virtually in the trailer under the assumption that the trailer (11) is a single vehicle, and the target virtual steering angle is a target value for the virtual steering angle set through a specific operation performed by an operator.
Provided is a vehicle control device comprising: a sailing control unit (12) that performs sailing control in which the power transmission path between an engine (4) and wheels (2) installed in a vehicle (1) is cut off; and a sailing determination unit (13) that determines the start and end of the sailing control and outputs a determination result to the sailing control unit, wherein the sailing determination unit (13) is provided with first and second conditions as finish conditions for determining to finish the sailing control and determines to finish the sailing control if at least one of the first condition and the second condition is satisfied, the first condition being satisfied when a relative time is shorter than a preset time threshold (THt1), the relative time being determined by the inter-vehicle distance between the own vehicle and the preceding vehicle and the speed or relative speed of the own vehicle, the second condition being satisfied on the basis of the rate of change in the relative time exceeding a preset rate-of-change threshold (THa).
This driving state determination device executes: object information acquisition processing (S40) for acquiring information of an object in the vicinity of a vehicle; target object setting processing (S50-S54) for setting a target object to which a driver of the vehicle should pay attention; image acquisition processing (S60) for acquiring image data of the driver; and determination processing (S14, S16-S22, S30, S32) for determining, using the image data as input, that careless driving is being performed if a state in which confirmation of the target object is not being performed continues for at least a carelessness determination value. A careless driving state is defined as a driving state in which the performance of safety confirmation is insufficient for the operation of a vehicle.
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
B60W 40/08 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to drivers or passengers
B60W 50/12 - Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
97.
DRIVING ASSISTANCE DEVICE, DRIVING ASSISTANCE METHOD, AND ASSISTANCE SUGGESTION PROGRAM
A driving assistance device (40) is provided with a storage device (46) in which correspondence data (Dmx) is stored and an execution device (42, 44). The execution device executes an acquisition process (S44; S64; S84), a suggestion process (S46; S66; S86), and an activation setting process (S50; S70; S90). The acquisition process acquires a value of a travel situation variable. The suggestion process operates a human interface (72) to suggest, to a driver of a vehicle, activation of one or a plurality of situation assistance processes according to the correspondence data, on the basis of the value of the travel situation variable. The activation setting process activates setting of the approved situation assistance process when approval of the suggestion by the driver is detected via the human interface.
This driving assistance apparatus is used in a vehicle (VC) provided with: a steering actuator (32) that steers to-be-steered wheels; and brake actuators (41-44). The driving assistance apparatus executes slip detection processing (S22) and limiting processing (S24, S24a). The slip detection processing (S22) detects the slippage of the vehicle on a road surface on which the vehicle is traveling. The limiting processing (S24, S24a) limits the braking force of the brake actuators to the low side. The limiting processing includes processing whereby if the to-be-steered wheels are being steered in order for the vehicle to avoid an obstacle and if sliding has been detected by the slide detection processing, then the braking force of the braking actuators is limited to the low side at least during the period over which the obstacle is being avoided.
B60W 30/09 - Taking automatic action to avoid collision, e.g. braking and steering
B60T 8/1755 - Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
B60T 8/1761 - Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
B60T 8/26 - Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
B60T 8/28 - Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels responsive to deceleration
A driving assistance device calculates the field of view of a driver based on an output signal of a camera that captures an image of the driver. The driving assistance device calculates a monitoring required region that requires monitoring when driving the vehicle based on information of the periphery of the vehicle. The driving assistance device determines whether the field of view calculated in the field of view calculation process encompasses the monitoring required region. When determined that the calculated field of view does not encompass the monitoring required region, the driving assistance operates predetermined hardware device to cope with the situation.
B60W 50/14 - Means for informing the driver, warning the driver or prompting a driver intervention
B60R 1/00 - Optical viewing arrangementsReal-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
100.
Travel controller, method for controlling traveling, and computer readable storage medium storing travel control program
A travel controller recognizes an action of a driver of a vehicle from image data of the driver. The travel controller obtains information indicating that determination of whether autonomous driving of the vehicle is permissible cannot be given. When the information indicating that determination of whether the autonomous driving of the vehicle is permissible cannot be given is obtained, the travel controller operates a human interface to request the driver for an instruction to drive the vehicle. The travel controller determines whether the driver is giving an instruction to drive the vehicle from an action of the driver recognized in response to the request for an instruction to drive the vehicle. When determined in the determination process that the driver is giving an instruction to drive the vehicle, the travel controller operates a drive system of the vehicle to permit autonomous driving of the vehicle.
B60Q 1/50 - Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
B60W 40/08 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to drivers or passengers
B60W 50/10 - Interpretation of driver requests or demands
B60W 50/14 - Means for informing the driver, warning the driver or prompting a driver intervention
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
