A lane departure prevention apparatus (17) has: a controlling device (172) configured to control a braking device (122) so that prevention yaw moment for preventing a vehicle from departing from a driving lane; and determining device (173) configured to determine whether or not slip ratio of a front wheel is larger than a first threshold value (KSfr) and whether or not slip ratio of a rear wheel is larger than a second threshold value (KSrr), the controlling device is configured to control the braking device so that the braking force applied from the braking device becomes smaller than the braking force for applying the prevention yaw moment, if it is determined that the slip ratio of the front wheel is larger than the first threshold value and/or the slip ratio of the rear wheel is larger than the second threshold value.

A vehicle behavior control device is for use in a vehicle including a brake pedal, a master cylinder generating a hydraulic pressure in response to an operation with the brake pedal, an electric hydraulic pressure generator connected to the master cylinder and electrically generating a hydraulic pressure based on the operation with the brake pedal, and a wheel cylinder in each wheel for braking. The device controls a brake hydraulic pressure to be applied to the wheel cylinder to control vehicle behavior. When brake control is executed such that a brake hydraulic pressure not based on the operation with the brake pedal is generated if the brake pedal is not being operated, a hydraulic pressure applied to a wheel cylinder in a diagonal wheel positioned diagonal from a brake wheel for controlling the behavior of the vehicle is adjusted to the hydraulic pressure in the master cylinder.

Provided are a travel assist device capable of producing, in a preferred manner, warning vibrations notifying deviation of a vehicle with respect to a travel path, and a method of controlling the same. A travel assist device includes a travel assist control device that notifies a driver about an anti-deviation direction or a deviation direction by making a steering angular acceleration in the deviation direction and the steering angular acceleration in the anti-deviation direction different from each other when producing warning vibrations, wherein a time-derivative value of a steering angle of a steering wheel is defined as a steering angular velocity, and a time-derivative value of the steering angular velocity is defined as the steering angular acceleration.

A lane departure prevention device includes: a travelling state recognition unit; a lane line recognition unit; a departure determination unit; a yaw moment calculation unit configured to calculate a target trajectory and a target yaw moment; a direction determination unit configured to determine the departure avoidance direction; a direction alignment determination unit configured to determine the turning direction of the vehicle by the target yaw moment coincides with the departure avoidance direction; and a braking force control unit configured to control the braking forces of the vehicle. In a case where the direction alignment determination unit determines that the results of determinations coincide with each other, the braking force control unit perform a braking force control, and in a case where the direction alignment determination unit doesn't determine that the results of determinations coincide with each other, the braking force control unit doesn't perform the braking force control.

In a case where existence of a branch point in front of a vehicle is not recognized based on position information of the vehicle and map information, when a lane width variation is greater than or equal to a first threshold value larger than a second threshold value, a determination that the branch point exists is made by a determination unit of a vehicle control device. On the other hand, in a case where existence of the branch point is recognized based on the position information of the vehicle and the map information, when the lane width variation is greater than or equal to the second threshold value smaller than the first threshold value, a determination that the branch point exists is made by the determination unit.

A method for operating a vehicle, a braking device, including a parking brake as one element and a brake booster as another element for actuating a service brake of the vehicle, being actuated to decelerate the vehicle, so that a braking force, which decelerates the vehicle, is generated with the aid of the braking device, during deceleration of the vehicle, at least one of the elements of the baking device being controlled in such a way that the generated braking force varies over time. A control device for a braking device of a vehicle, a braking system for a vehicle, and a computer program, are also described.

To provide a vehicle control system capable of promptly achieving a travel motion along a travel path. A yaw moment control amount is imparted according to a traveling-direction virtual line extending from an ego vehicle in a traveling direction and a formed angle between the traveling-direction virtual line and a travel-path defining line.

The invention relates to a method for providing lane-keeping support in automobiles during the operation of a fully automatic driver assistance system designed for driver-independent vehicle guidance by means of a control unit which controls the actuatorics of a steering system during operation of this driver assistance system such that the vehicle is maintained within the driving lane, characterized in that, in the event of failure of the steering system, targeted braking interventions are performed in order to maintain the lateral guidance for the lane-keeping support of the vehicle by means of a braking system of the vehicle.

An apparatus includes a steering assist torque determination unit and a steering assist torque control unit. The steering assist torque determination unit determines a steering assist torque including a first component that is determined on the basis of a deviation between an actual steering angle and a target steering angle for achieving a target path determined irrespective of driver's steering. The steering assist torque control unit controls a steering assist mechanism such that the steering assist torque is applied. The ratio of the magnitude of the first component of the steering assist torque to the deviation between the target steering angle and the actual steering angle is determined on the basis of the magnitude of the deviation between the steering assist torque and the driver's steering torque in a past predetermined period.

An autonomous vehicle which includes multiple independent control systems that provide redundancy as to specific and critical safety situations which may be encountered when the autonomous vehicle is in operation.