A remote operation system supports a remote operation of a moving body performed by a remote operator. The remote operation system determines a road surface condition in front of the moving body based on a result of recognition by a recognition sensor mounted on the moving body. The remote operation system calculates a first reaction force control amount based on a first parameter corresponding to an actual turn angle of the moving body. The remote operation system adjusts the first reaction force control amount according to the road surface condition and a speed of the moving body. The remote operation system applies a steering reaction force corresponding to the adjusted first reaction force control amount to a steering wheel operated by the remote operator.

A vehicle gear-shifting control apparatus is equipped with an engine, a motor, an automatic transmission, a friction brake system, and a controller which executes, during deceleration of an automobile, a gear-shifting control of changing a shift stage of the automatic transmission by outputting a gear-shifting signal in accordance with the rotation speed of an input shaft and a regeneration control of performing regeneration by at least one of distributing a braking force by the friction brake system and imparting a regenerative braking torque to rear wheels by causing the motor to perform a regeneration operation. The controller executes a first coordinated gear-shifting control of reducing hydraulic pressure in the friction brake system and, at the same time, changing the shift stage while continuing the regeneration operation during brake regeneration and executes a second coordinated gear-shifting control of changing the shift stage after increasing an input torque during non-brake regeneration.

Aspects of the present disclosure relate to a control system and a method for controlling generation of a steering wheel overlay signal to control positioning of a host vehicle. The control system is configured to determine a first boundary of a lane of travel. The control system is configured to determine a target lane position for the host vehicle in relation to the first boundary, such as a predetermined distance from the first boundary. A steering wheel overlay signal is generated, the steering wheel overlay signal comprising an intra-lane steering signal for steering the host vehicle toward the target lane position. The control system is configured to remove the steering wheel overlay signal in dependence on a velocity of the host vehicle relative to the first boundary being less than a threshold velocity. Thus, the final alignment of the host vehicle achieves the perception of travelling parallel to the boundary, whilst reducing the total intervention time.

The present disclosure relates to a control system for controlling generation of a steering wheel overlay signal to control a trajectory of a host vehicle. The control system includes one or more controllers. The control system is configured to determine a principal axis of a lane of travel. A target trajectory is determined for the host vehicle in dependence on the determined principal axis. The steering wheel overlay signal is generated, including an intra-lane steering signal for aligning the trajectory of the host vehicle with the target trajectory. The intra-lane steering signal is removed when the trajectory is at least substantially aligned with the target trajectory. The present disclosure also relates to a vehicle; and a method of controlling generation of a steering wheel overlay signal.

A driver assistance device, a driver assistance method, and a driver assistance system according to the present invention make it possible to: determine a distribution of a risk of a vehicle departing from a drivable width of a road on which the vehicle travels based on driving environment factors including a road curvature and a friction coefficient of a road surface of a curve approaching the vehicle; calculate an operation variable of an actuator related to a steering operation of the vehicle based on the distribution of the risk; and output the operation variable to the actuator. This enables steering control based on potential risk evaluation made by taking into account a risk that the controllability of the vehicle may decrease when the vehicle travels on a curve.

A steering control apparatus according to the present invention acquires a reference target torque, which is a torque regarding steering that is required to avoid an obstacle present ahead of a vehicle, determines a torque correction value for correcting the reference target torque based on specifications regarding running of the vehicle, determines a target torque based on the reference target torque and the torque correction value, and outputs a torque instruction for achieving the determined target torque to an actuator regarding the steering.

Methods of assessing driver behavior include monitoring vehicle systems and driver monitoring systems to accommodate for a driver's slow reaction time, attention lapse and/or alertness. When it is determined that a driver is drowsy, for example, the response system may modify the operation of one or more vehicle systems. The systems that may be modified include: visual devices, audio devices, tactile devices, antilock brake systems, automatic brake prefill systems, brake assist systems, auto cruise control systems, electronic stability control systems, collision warning systems, lane keep assist systems, blind spot indicator systems, electronic pretensioning systems and climate control systems.

A motor vehicle includes first and second drive axles coupled to respective sets of road wheels, torque actuators inclusive of rotary electric machines configured to transmit respective output torques to the drive axles, and a main controller in communication with the torque actuators. The controller receives vehicle inputs indicative of a total longitudinal and lateral motion request. In response, the controller calculates a total longitudinal torque request and/or a total longitudinal speed request, a yaw rate request, and a lateral velocity request, then determines, using a cost optimization function, a torque vector for allocating the total longitudinal torque request and/or speed request, the yaw rate request, and the lateral velocity request to the drive axles within predetermined constraints. The controller also transmits a closed-loop control signal to each torque actuator or local controllers thereof to apply the torque vector via the drive axles.

An integrated control apparatus and method for a vehicle are provided. The integrated control apparatus for the vehicle includes: a sensor unit comprising one or more sensing devices provided in the vehicle, wherein each of the one or more sensing devices provides driving environment information by sensing driving environments of the vehicle; an integrated control unit configured to generate one or more control commands for driving control of the vehicle based on one or more pieces of driving condition information of the vehicle received from a network of the vehicle and each driving environment information received from the sensor unit, mediate the generated control commands according to priorities determined based on driving safety of the vehicle and assigned to the respective control commands, and generate a final control command in which output response characteristic of the driving control according to the control command having higher priority is optimized.

In a case where a first control device performs traveling control, an abnormality occurs in a first control target, and an abnormality further occurs in a first control target or a second control target, a vehicle control system executes the following processes: (A) in a case where no abnormality occurs in a first control target required for the traveling control, the first control device continues the traveling control; (B) in a case where an abnormality occurs in the first control target required for the traveling control and no abnormality occurs in the second control target required for the traveling control, the second control device executes the traveling control; and (C) in a case where an abnormality occurs in the first control target required for the traveling control and an abnormality occurs in the second control target required for the traveling control, the traveling control is limited.