A driving assist in conformity with the driver's feeling of a leaning vehicle is described. A sensing unit (21) of a leaning vehicle (1) is configured to sense objects in front of, behind, or both of the leaning vehicle (1). An active driving assist control unit (57) controls an active driving assist unit (23) of the leaning vehicle (1) so as to actively assist the driver of the leaning vehicle (1) in accordance with a result of sensing by the sensing unit (21) and information of a position of the leaning vehicle (1) in a lane (100) in the left-right direction of the lane (100), the information being obtained by an in-lane left-right position information acquisition unit (22).

The present invention addresses the problem that a host vehicle changes lanes and comes into contact with a following vehicle or causes the following vehicle to rapidly decelerate when the other vehicle rapidly approaches the host vehicle from outside a recognizable zone in the presence of another vehicle traveling in the lane to which the host vehicle is about to travel. Provided is a vehicle control system characterized in that a driver is notified that a lane change is not possible, the vehicle control system having: an external recognition means for detecting the lane markers of the lane in which the host vehicle is traveling and/or detecting another vehicle in the surrounding area of the host vehicle; a limit-distance calculation means for determining the detectable limit distance of the external recognition means; a relative-speed calculation means for calculating the speed relative to a hypothetical vehicle present outside the detectable limit distance when no other vehicle is present within the distance; and a required detection distance calculation means for determining the required detection distance of the external recognition means required for the host vehicle to change lanes on the basis of the relative speed.

In a vehicle control device, detection of an object around a vehicle is performed, when it is determined that there is a possibility that the vehicle may collide with the object, whether or not a collision can be avoided by braking control of the vehicle is determined, and when it is determined that a collision cannot be avoided by the braking control, steering and braking control to avoid a collision by both steering of the vehicle and braking of the vehicle is performed and at the same time, flashing of a direction indicator is started, and when the vehicle has stopped, flashing of hazard flashing indicators is performed.

An engine control device for a vehicle including a power train where a continuously variable transmission is coupled to an engine, includes engine torque control means configured to control the engine so as to obtain an basic engine torque corresponding to an operating state of the vehicle, and command means configured to command engine torque control means to increase an engine torque from the basic engine torque during a gear shifting from a first speed stage to a second speed stage. The continuously variable transmission includes a continuously variable transmission mechanism, an auxiliary transmission mechanism that includes at least a first engagement portion and a second engagement portion to achieve the gear shifting from the first speed stage to the second speed stage, and shift control means configured to set a target value of a transmission gear ratio of the entire continuously variable transmission mechanism and the auxiliary transmission mechanism based on the operating state of the vehicle to control the continuously variable transmission mechanism such that the target value is achieved.

Disclosed is a control device for a hybrid vehicle having an engine (1) and a motor generator (2) connected via a first clutch (4). In an EV mode in which the first clutch (4) should be in a released state, a diagnosis of the first clutch (4) is executed. An air conditioner (41) is provided in the hybrid vehicle such that a compressor (42) of the air conditioner is driven by the engine (1). An HEV mode is thus selected during operation of the air conditioner (41). When the hybrid vehicle has run at a predetermined speed or higher for a predetermined time, the diagnosis of the first clutch (4) is executed upon temporarily switching the running mode to the EV mode in a stop state of the hybrid vehicle.

A road friction estimation system and method for a road on which a vehicle is traversing is disclosed. The system comprises: a vehicle (22) having at least one supportive vehicle tire (10), the vehicle tire (10) having a tire cavity (16) and a ground-engaging tread (14), and the tire (10) having a plurality of tire-specific parameters; a plurality of tire-affixed sensors (18) mounted to the tire operably measuring the tire-specific parameters to generate tire-specific information; a plurality of on-board vehicle sensors mounted to operably measure a plurality of vehicle-specific parameters to generate vehicle-specific information; a model-based tire force estimator (32) operable to generate a model-derived tire force estimation; a vehicle observer (46) operable to generate an observer-derived tire force estimation; and a friction estimator operable to generate a road friction estimation from a comparison of the model-derived tire force estimation and the observer-derived tire force estimation.

A system and a method of controlling a power steering system of a vehicle are provided. A control system includes a control module operable to receive sensor data and control the power steering system. The control module is configured to determine whether the vehicle is operating in a low surface friction condition based on a handwheel angle and one of a handwheel torque and a pinion torque. The control module generates a control signal based on the determination and sends the control signal to the power steering system.

A parking assist apparatus that causes a vehicle to be parked in a target parking position generates a traveling route of a vehicle M from a parking travel start position P0 to a target parking position P2 (S12); generates a plurality of speed patterns having different speeds when the vehicle travels on the traveling route (S 14); selects a target speed pattern from the plurality of speed patterns based on information of an object around the traveling route (S 18); and controls the traveling of the vehicle M based on the target speed pattern (S24).