A moving machine control program causes a computer to execute: acquiring requested external force regarding an actuator; reading out a reference kinetic model that defines moving machine behavior exhibited when the actuator generates external force corresponding to the requested external force; calculating, as requested moving machine behavior, the moving machine behavior exhibited when the actuator generates the external force corresponding to the requested external force, in accordance with the reference kinetic model; measuring actual moving machine behavior during traveling of the moving machine; correcting the requested external force such that the actual moving machine behavior measured in the measuring step approaches the requested moving machine behavior calculated in the calculating step; and controlling the actuator based on the corrected requested external force.

A braking device includes: a reservoir; a master cylinder in which when the amount of operation performed on a brake pedal reaches or exceeds a predetermined amount, a port communicating between a pressure chamber and the reservoir is cut off and hydraulic pressure corresponding to the brake pedal operation amount is generated; a hydraulic pressure unit for adjusting the wheel cylinder hydraulic pressure; and a control unit for controlling the hydraulic pressure unit. The control unit determines, based on a temperature-related value related to the temperature of a friction member pressed by the wheel cylinder hydraulic pressure against a rotating member fixed to a wheel, whether the friction member is in a fade state. When the friction member is in a fade state, the control unit controls the hydraulic pressure unit to suction brake fluid from the reservoir through the port, and is fed to the wheel cylinder.

A braking device includes: a reservoir; a master cylinder in which when the amount of operation performed on a brake pedal reaches or exceeds a predetermined amount, a port communicating between a pressure chamber and the reservoir is cut off and hydraulic pressure corresponding to the brake pedal operation amount is generated; a hydraulic pressure unit for adjusting the wheel cylinder hydraulic pressure; and a control unit for controlling the hydraulic pressure unit. The control unit determines, based on a temperature-related value related to the temperature of a friction member pressed by the wheel cylinder hydraulic pressure against a rotating member fixed to a wheel, whether the friction member is in a fade state. When the friction member is in a fade state, the control unit controls the hydraulic pressure unit to suction brake fluid from the reservoir through the port, and is fed to the wheel cylinder.

A device for controlling sudden unintended acceleration according to an embodiment of the present disclosure includes a sensor for detecting a current acceleration of a vehicle, a first controller that calculates a motor torque command value for driving a motor, calculates an expected acceleration of the vehicle based on the motor torque command value, and compares the expected acceleration with the current acceleration, and a second controller that compares the motor torque command value with a preset value. Therefore, the device may determine a cause of the sudden unintended acceleration and block the sudden unintended acceleration based on the determination result to improve safety of a driver.

A device for controlling sudden unintended acceleration according to an embodiment of the present disclosure includes a sensor for detecting a current acceleration of a vehicle, a first controller that calculates a motor torque command value for driving a motor, calculates an expected acceleration of the vehicle based on the motor torque command value, and compares the expected acceleration with the current acceleration, and a second controller that compares the motor torque command value with a preset value. Therefore, the device may determine a cause of the sudden unintended acceleration and block the sudden unintended acceleration based on the determination result to improve safety of a driver.

In motion control in the present invention, operation amounts relating to braking and drive are set as a control command when a difference between a physical quantity relating to a target vehicle attitude which is based on a target trajectory and a physical quantity relating to a linear model vehicle attitude which is based on a linear model of a vehicle exceeds a threshold value, operation amounts relating to braking and steering are set as the control command when the difference is equal to or smaller than the threshold value, and an attitude of the vehicle in a yaw direction is controlled based on the control command.

In motion control in the present invention, operation amounts relating to braking and drive are set as a control command when a difference between a physical quantity relating to a target vehicle attitude which is based on a target trajectory and a physical quantity relating to a linear model vehicle attitude which is based on a linear model of a vehicle exceeds a threshold value, operation amounts relating to braking and steering are set as the control command when the difference is equal to or smaller than the threshold value, and an attitude of the vehicle in a yaw direction is controlled based on the control command.

A brake control device for a vehicle includes: a motor connected to wheels; a hydraulic brake that generates a friction braking force based on frictional contact with a brake rotor that integrally rotates with the wheels; a controller that performs coordination control of regenerative brake control, in which a regenerative power generation is performed by the motor on a basis of rotation of the wheels to apply a regenerative braking force to the wheels, and hydraulic brake control, in which the hydraulic brake is operated; and a battery that exchanges power with the motor. Further, in a case where a temperature of the brake rotor is higher than a predetermined temperature when input to the battery is restricted in a state where there is a deceleration request, the controller reduces the friction braking force, and performs the regenerative brake control while power is consumed by an electric device.

A brake control device for a vehicle includes: a motor connected to wheels; a hydraulic brake that generates a friction braking force based on frictional contact with a brake rotor that integrally rotates with the wheels; a controller that performs coordination control of regenerative brake control, in which a regenerative power generation is performed by the motor on a basis of rotation of the wheels to apply a regenerative braking force to the wheels, and hydraulic brake control, in which the hydraulic brake is operated; and a battery that exchanges power with the motor. Further, in a case where a temperature of the brake rotor is higher than a predetermined temperature when input to the battery is restricted in a state where there is a deceleration request, the controller reduces the friction braking force, and performs the regenerative brake control while power is consumed by an electric device.

A slip angle estimation device for a vehicle comprises an imaging device for capturing an image of at least one of the front and the rear of the vehicle and a control unit. The imaging device is a CCD camera including a lens and an imaging sensor. The control unit is configured to determine a plurality of tracking points for a plurality of captured objects, determine an optical flow for the plurality of tracking points based on two images captured at predetermined elapsed time intervals, determine a vanishing point based on intersections of the plurality of optical flows, and calculate a slip angle of the vehicle based on a ratio of a horizontal distance between an image center and the vanishing point to a distance between a lens center of the CCD camera and an imaging sensor.