In an autonomous traveling apparatus, a normal traveling area and a deceleration area are set for a monitoring area in an area setting unit. A speed control unit limits a traveling speed of an apparatus main body on the basis of the monitoring area set in the area setting unit and a distance from the apparatus main body to an obstacle within the monitoring area if the obstacle present within the monitoring area is detected. If the obstacle is a movable body, an area change unit changes the deceleration area within the monitoring area that is set in the area setting unit to a deceleration area for movable body. This configuration makes it possible to support even a case where an obstacle is a movable body, in limiting the traveling speed in response to obstacle detection.

A driving assistance apparatus is mounted in an own vehicle and performs driving assistance for the own vehicle. The driving assistance apparatus determines a travel recommended lane in which the own vehicle is to travel, based on a comparison of a preset vehicle speed set in advance to allow the own vehicle to travel at a constant speed, to a travel state of a preceding vehicle traveling ahead of the own vehicle in a travel lane in which the own vehicle is traveling and a travel state of an adjacent vehicle traveling ahead of the own vehicle in an adjacent lane that is adjacent to the travel lane. The driving assistance apparatus performs output based on the travel recommended lane.

A vehicle control system includes: an automated drive control unit that performs automated driving where at least one of speed control and steering control of a vehicle is performed automatically, the automated drive control unit executing handover where an automated drive mode is switched to a manual driving mode; a calculating unit that calculates an occurrence frequency of the handover or an occurrence probability of the handover on a traveling route that the vehicle will travel; and a presentation unit that presents the occurrence frequency of the handover or the occurrence probability of the handover that has been calculated, to an occupant of the vehicle.

A vehicle control device includes an electronic control unit configured to: enlarge the detection range, when the electronic control unit determines that a current deceleration support control is control for passing the object; set a new target deceleration of the host vehicle when a new object with a possibility of collision with the host vehicle has been detected in the enlarged detection range; determine whether an interval from an ending time of the current deceleration support control to a starting time of the next deceleration support control is less than a threshold value, when the electronic control unit determines that the next deceleration support control is control for passing the new object; and perform one of the inter-vehicle distance control and acceleration support control from the ending time to the starting time, when the electronic control unit determines that the interval is less than the threshold value.

A method is provided for controlling the speed of a vehicle that includes a drive train for driving the vehicle and a predetermined preferred speed set. The method includes determining whether or not a substantially constant speed of the vehicle is requested, if it is determined that a substantially constant speed is requested, determining whether the requested speed lies within or outside of the predetermined preferred speed set, and if it is determined that the requested speed lies outside of the predetermined speed set, automatically adjusting the speed of the vehicle to a vehicle speed that is within the predetermined speed set.

A method is provided for controlling the speed of a vehicle that includes a drive train for driving the vehicle and a predetermined preferred speed set. The method includes determining whether or not a substantially constant speed of the vehicle is requested, if it is determined that a substantially constant speed is requested, determining whether the requested speed lies within or outside of the predetermined preferred speed set, and if it is determined that the requested speed lies outside of the predetermined speed set, automatically adjusting the speed of the vehicle to a vehicle speed that is within the predetermined speed set.

A method and apparatus for evaluating the driving of a vehicle performing a journey on a road network is disclosed. The method comprises determining a fuel usage rate and an engine speed of a vehicle, and determining when the vehicle is coasting based upon at least one of the fuel usage rate and the engine speed of the vehicle. An acceleration of the vehicle, when the vehicle is determined to be coasting, is compared with a predetermined reference acceleration, and an application of braking during the coasting is determined based on the result of the comparison. A method and apparatus is also disclosed for determining a score indicative of the relative amount of time for which the vehicle is coasting without braking during a journey.

Provided is a mobile object control device including a storage medium that stores computer-readable commands and a processor connected to the storage medium, the processor executing the computer-readable commands to: generate a target trajectory indicating a path along which a mobile object is to travel in the future based on division line information represented in a space obtained by converting an image, which is photographed by a camera mounted on the mobile object and represents a surrounding situation of the mobile object, into a bird's-eye view coordinate system; calculate a curvature of the target trajectory; estimate the curvature by applying a correction filter for correcting the curvature to the estimated curvature; generate a speed plan indicating a future target speed of the mobile object based on the corrected curvature; and cause the mobile object to travel according to the speed plan.

The invention relates to a sensor device for a vehicle for detecting a road user in a vehicle environment, wherein the road user transmits a communication signal, with a first antenna and a second antenna, wherein the first antenna and the second antenna are designed to receive the communication signal with a phase displacement, a processor which is designed to determine a transmission direction of the communication signal on the basis of the phase displacement between the communication signal received at the first antenna and the communication signal received at the second antenna, and a distance sensor which is designed to capture angle-dependent distance measured variables of the vehicle environment, wherein the processor is designed to determine a position of the road user on the basis of the transmission direction of the communication signal and of the angle-dependent distance measured variables of the vehicle environment.

A control system for a work vehicle includes an acceleration detection device and a controller. The acceleration detection device detects an acceleration of the work vehicle. The controller determines whether the acceleration is greater than a first threshold and reduces the a vehicle speed when the acceleration continues to be equal to or greater than the first threshold over a predetermined first determination time period.