An object recognition system including a position sensor, an image sensor and a controller is provided. The position sensor determines the position of an object, and the image sensor captures an image of the object. The controller sets a processing area within the image captured by the image sensor based on the position of the object determined by the position sensor and a predetermined size for the object to be recognized. The controller extracts horizontal edges from the processing area, and identifies horizontal edges belonging to the outline of the object from the extracted edges. Thus, the object can be recognized based on the horizontal edges only. Similarly, the controller can extract vertical edges from the processing area and identify vertical edges belonging to the outline of the object. Preferably, the controller selects upper, lower, left, and right horizontal and vertical candidate ends of the object from the identified horizontal and vertical edges respectively, from which upper, lower, left, and right ends of the object are determined. If either one or both of the left and right horizontal candidate ends cannot be selected, candidate ends can be estimated based on the position of the object recognized in a previous recognition cycle, and the estimated candidate ends can be used in lieu of the candidate ends selected from the horizontal edges.

Object recognition system

A declaration control apparatus and method for a vehicle, which performs deceleration control such that a deceleration acting on the vehicle becomes equal to a target deceleration by an operation of a brake system which applies a braking force to the vehicle and a shift operation which shifts a transmission of the vehicle into a relatively low speed or speed ratio, increases the target deceleration over time at a predetermined gradient to a predetermined value when a determination that there is a need to shift the transmission into a relatively low speed or speed ratio has been made, and after the target deceleration reaches the predetermined value, maintains the target deceleration at a generally constant value. As a result, a deceleration transitional characteristic of the vehicle is able to be improved.

Deceleration control apparatus and method for a vehicle

An object detection device, including: an imaging unit (400) that is mounted on a movable body; an object detection unit (201) that calculates an image displacement of a partial image between two images captured by the imaging unit (400) at different times, and performs detection processing to detect an object in an image based on at least the image displacement; and a control unit (201) that changes a manner of performing the detection processing based on a position in the image in a lateral direction of the movable body.

Object detection device

According to conventional art, if there is an obstacle on the left of a vehicle, a control threshold value is set so as to avoid the obstacle If the control threshold value is exceeded, the vehicle is controlled in accordance with a deviation quantity so as to return to a position where the control threshold avoids being exceeded However, even if a risky oncoming vehicle is approaching the vehicle on the right, the vehicle is controllably moved toward the oncoming vehicle Thus, disadvantageously, a driver has a sense of fear or discomfort A vehicle control apparatus according to the present invention includes a calculation section configured to calculate a first risk level present on the left of the vehicle and a second risk level present on the right of the vehicle, a setting section configured to set a first control threshold for the left of the vehicle based on the first risk level and to set a second control threshold for the right of the vehicle based on the second risk level, a change section configured to change at least one of the first and second control thresholds based on the first and second risk levels, and a control section configured to control the vehicle based on the changed control threshold

Vehicle control apparatus

A driving/braking force manipulation control input of a k-th wheel, which denotes one or more specific wheels among a plurality of wheels of a vehicle, is determined such that a required condition concerning a relationship among a road surface reaction force that may act from a road surface on the k-th wheel on the basis of the detected values or estimated values of a side slip angle and a friction characteristic of the k-th wheel, a feedback control input related to the driving/braking force of the k-th wheel for bringing a difference between a state amount of the vehicle and a reference state amount close to zero, a driving/braking force feedforward control input based on a drive manipulated variable supplied by a driver of the vehicle, and a k-th wheel driving/braking force manipulation control input is satisfied. This arrangement makes it possible to properly control a motion of an actual vehicle to a desired motion while properly considering the characteristics of a road surface reaction force acting from a road surface on a wheel.

Vehicle Control Device

PURPOSE:To improve the car driving feeling when the gear ratio is to be changed, by multiplying the target primary pulley revolving speed with a correction gain exibiting a lower value with lower road surface friction coefficient, thereby determining a corrective target revolving speed, and calculating the shift speed on the basis of the deviation of the actual revolving speed from the obtained target value. CONSTITUTION:A continuously variable transmission 20 varies the gear ratio continuously by regulating the effective diameters of a primary and a secondary pulley 26, 28 by the cylinder of each Pulled. Each cylinder is connected with a main and an aux. port of a gear ratio control valve 54, which receives the adjusting pressure from a pressure control valve and the shift speed control pressure of a solenoid-operated control valve 23 and is changed over. The solenoid-operated control valve 23 performs control with an ECU 21, and at this control, the target primary revolving speed is multiplied with a correction gain exhibiting a lower value with lower road surface friction coefficient to determine a corrective target revolving speed, and the shift speed is calculated on the basis of the deviation of the actual revolving speed from this obtained corrective target value, and thereby the solenoid-operated control valve 23 is controlled.

Shift control device for continuously variable transmission

PURPOSE: To realize the smooth and stable steering which does not respond to the steering system by a minor change in the vehicle behavior. CONSTITUTION: An automatic steering device is provided with a steering actuator 2A to steer a steering wheel, a road condition recognizing means 4 to recognize the road condition, and a steering control means 5 to control thc steering actuator 2A, a deflection angle detecting means 4A is provided in the road condition recognizing means 4, and the steering control means 5 is provided with a deflection angle converting means 5B to convert the detected deflection angle value to the deflection angle value for the steering control and a control amount setting means 5A to set the control amount of the steering actuator 2A are provided. The deflection angle value converting means 5B is provided with the dead zone where the deflection angle value for the steering control is set zero when the detected deflection angle value is smaller than the prescribed value, and the hysterisis to increase/decrease the steering angle with the characteristic where the deflection angle value for the steering control is increased/decreased according to the detected deflection angle value when the detected deflection angle value is larger than the prescribed value, and the detected deflection angle value is different in the decreasing tendency and the increasing tendency. COPYRIGHT: (C)1995,JPO

Automatic steering device for vehicle

PROBLEM TO BE SOLVED: To provide a driving controlling device for a vehicle giving a driver no unusual sense of feeling such as deceleration shock or brake missing at start, release or under control of deceleration and capable of smooth switching to a manual control state from an automatic control state by the driver at release. SOLUTION: A target deceleration speed of its own car αe is calculated from its own speed Ve, precedent car speed Vf, inter-vehicle distance L and target inter-vehicle distance, and a barking device is operated and controlled based on the calculated target deceleration speed αe. When the target deceleration speed αe calculated is rapidly changed, the target deceleration speed αe is controlled (S62, S68, S72, S76, S80) by a gradually changed control value e.g. αemax (t)1} by a target deceleration speed controlling means.

Driving controlling device for vehicle

PURPOSE: To control deceleration without making worse a driving feeling and a follow-up property to the preceding vehicle by releasing deceleration control by gear shifting, when deceleration control by braking is begun during a prescribed time after beginning of deceleration control by gear shifting. CONSTITUTION: The inter-vehicle distance to the preceding vehicle is measured by an inter-vehicle distance measuring means 12, and when the inter-vehicle distance becomes small, a command is output to an automatic transmission 32 from a control state computing part 6 and a control content computing part 8, and hence deceleration control by gear shifting of the transmission to a low speed step side. When the inter-vehicle distance becomes further small, deceleration is controlled by braking of wheels by commanding to a brake actuator 34. When the deceleration control by braking of the wheels is begun during a prescribed time after beginning of deceleration control by gear shifting to the low speed step side, the control by gear shifting is released. Hereby deceleration control becomes possible without making worse a driving feeling and a follow-up property to the preceding vehicle. COPYRIGHT: (C)1996,JPO

Running control device of vehicle

PROBLEM TO BE SOLVED: To facilitate ensuring a fitting position and increase warning reliability by calculating a relative movement condition between an object and a vehicle from the output of a scan type object detecting means which detects the rearward lateral object of the vehicle, and conducting warning discrimination based on its running and the output of a running state detecting means SOLUTION: This rear lateral warning device for vehicle outputs, to a controller, the signal of a scan laser radar serving as a scan type object detecting means fitted in the middle of a rear bumper for vehicle The controller functions as a relative movement state calculating means A1, a running state detecting means A2, a warning discrimination means A3, and a revolving radius calculating means A4 The relative state state calculating means A1 calculates a relative distance between an object and the vehicle, the presence of the object in a warning area and so on from the position signal and relative speed of the object through a scan laser radar 12, the running state detecting means A2 detects the vehicle speed, steering angle, turn signal, retreat signal and so on of a self vehicle, and the warning discrimination means A3 conducts warning discrimination based on them COPYRIGHT: (C)1998,JPO

喜一山田

Papers

Shift control device for continuously variable transmission

Automatic steering device for vehicle

Driving controlling device for vehicle

Running control device of vehicle

Rear lateral warning device for vehicle

喜一 山田

Papers

Shift control device for continuously variable transmission

Automatic steering device for vehicle

Driving controlling device for vehicle

Running control device of vehicle

Rear lateral warning device for vehicle

喜一山田