A vehicle control apparatus is applied to a vehicle so as to control driving of an electric motor of the vehicle. The vehicle control apparatus includes: a frequency calculation unit configured to calculate an engine pulsation frequency; a damping control content switching unit configured to switch a damping control content; a gain calculation unit configured to calculate a gain, used for a torque command for driving the electric motor; a torque calculation unit configured to calculate the torque command by multiplying the calculated gain by at least one of a torsion torque reduction component and a motor torque reduction component; a command torque determination unit configured to determine a damping control torque command; and a drive control unit configured to control the driving of the electric motor based on the damping control torque command.

A traveling trajectory estimation system obtains traveling record information indicating a past traveling record of a vehicle, and characteristic object position information indicating the installation position of a characteristic object, and performs a vehicle position estimation process to estimate an object vehicle position at an object time, based on the traveling record information and the characteristic object position information. In the vehicle position estimation process, not only a time previous to the object time, but also a time subsequent to the object time, is used as a reference time. The traveling trajectory estimation system sets each of a plurality of successive times as the object time, and performs the vehicle position estimation process, to estimate the object vehicle positions at the respective times, and determines a collection of the estimated object vehicle positions as a traveling trajectory of the vehicle.

An apparatus includes: a first camera configured to view an environment outside a vehicle; a second camera configured to view a driver of the vehicle; and a processing unit configured to receive a first image from the first camera, and a second image from the second camera; wherein the processing unit is configured to determine first information indicating a risk of collision with the vehicle based at least partly on the first image; wherein the processing unit is configured to determine second information indicating a state of the driver based at least partly on the second image; and wherein the processing unit is configured to determine whether to provide a control signal for operating a device or not based on (1) the first information indicating the risk of collision with the vehicle, and (2) the second information indicating the state of the driver.

A system according to the present disclosure includes an actuator control module and a damping ratio module. The actuator control module is configured to control an actuator of a vehicle to cause the vehicle to perform a yaw maneuver by rotating about its yaw axis. The damping ratio module is configured to determine a damping ratio based on an operating parameter measured during the yaw maneuver. The operating parameter includes at least one of a yaw rate of the vehicle, a yaw rate of a trailer connected to the vehicle, a lateral acceleration of the vehicle, a lateral acceleration of the trailer, a heading angle of the vehicle, and a hitch angle between a longitudinal axis of the vehicle and a longitudinal axis of the trailer.

A method for estimating the speed of a motor vehicle includes defining a first speed threshold that corresponds to a minimum speed value supplied by a vehicle wheel angular speed sensor, defining a second speed threshold that is greater than the first, estimating low speed values when the vehicle is running below the first speed threshold by using an estimation method of adaptive filtered type, measuring high speed values when the vehicle is running above the second speed threshold by using vehicle speed values supplied by the wheel angular speed sensor, and in the intermediate zone between the first and second speed thresholds, mixing high speed with low speed.

Provided is a vehicle control device configured to: generate a target trajectory of a vehicle; and determine whether change in speed of a target steering angle in a first period is equal to or larger than a first threshold value and whether change in speed of the target steering angle in a second period is equal to or larger than a second threshold value; and change, in a case where the driving mode of the vehicle is a second driving mode, the driving mode of the vehicle to a first driving mode when the change in speed of the target steering angle in the first period is determined to be equal to or larger than the first threshold value or when the change in speed of the target steering angle in the second period is determined to be equal to or larger than the second threshold value.

This disclosure provides a vehicle control device, a vehicle control method, and a recording medium. The vehicle control device according to one aspect of an embodiment includes a recognition unit that recognizes an object in a periphery of the own vehicle, a road information acquisition unit that acquires road information in the periphery of the own vehicle, and an alarm control unit that causes an alarm device to give an alarm when the object recognized by the recognition unit exists in a predetermined region set with reference to a position of the own vehicle, in which the alarm control unit does not give the alarm regarding the object when at least part of the object existing in the predetermined region recognized by the recognition unit exists outside a road from a boundary the road where the own vehicle acquired by the road information acquisition unit exists.

A collision avoidance apparatus includes an object information acquisition device for acquiring object information including a three-dimensional object and dividing lines, a steering input value acquisition device for acquiring a steering input value based on a driver's steering operation, and control unit for executing collision avoidance control when a collision condition is satisfied based on the object information. When the steering input value of a steering operation to the right is defined to be positive, the control unit is configured to perform one of: avoiding executing the collision avoidance control even when the collision condition is satisfied; and changing a threshold value used for the collision condition so that satisfaction of this condition becomes more difficult, in a case where a right side adjacent lane is present, this lane is a lane in the same direction, and the steering input value is a predetermined positive steering threshold value or more.

A vehicle-launching warning device including an acquiring module acquiring traffic light information and driver status information and some or all of: location information, status and navigation of a vehicle, map information, status information of a preceding vehicle, and environmental information; a processing module processing the acquired information to determine whether a target traffic light is at the end of a red light signal and whether a driver's degree of attentiveness is high enough for driving, the target traffic light being a next traffic light in a travelling direction of the vehicle after passing through a current traffic light; a determining module generating a warning command if it is determined the target traffic light is at the end of a red light signal and the driver's degree of attentiveness is not high enough for driving; and an outputting module outputting the warning command to a human machine interface (HMI).

A vehicle control apparatus includes an automatic driving control device determining a travel route at a time of executing an automatic driving based on surrounding environment information and position information of a vehicle, and outputting a control amount corresponding to the travel route, and a steering control device calculating a steering control amount based on the control target value. There is a performing of steering control of the vehicle based on the steering control amount, wherein the automatic driving control device dynamically determines a control amount threshold value for regulating a limit of the steering control amount based on automatic driving control information indicating a control state in an automatic driving of the vehicle, and provides the steering control device with the control amount threshold value, and the steering control device changes the steering control amount not to exceed the control amount threshold value.