A driving assistance control section of a vehicle control apparatus has an operation state of a driver's vehicle transition from a stop state to a start-stand-by state keeping a second assistance state, if an accelerating operation larger than a predetermined first threshold acceleration is performed and there is an ahead-located vehicle, and has the driving assistance state transition from the second assistance state to a first assistance state and has the operation state transition from the stop state to the start-stand-by state if an accelerating operation larger than a predetermined second threshold acceleration is performed over a longer time than a predetermined threshold duration and there is an ahead-located vehicle, if follow-up running control is being performed in the second assistance state in which it is not necessary for a driver to hold a steering wheel to continue to have a driving assistance function performed.

Embodiments of the invention are directed to a computer-implemented method that includes determining, by a vehicle controller associated with a vehicle, a typical driving behavior of a driver of the vehicle. The method also includes detecting, by the vehicle controller associated with the vehicle, that the driver has deviated from the typical driving behavior. The method also includes transmitting a notification that indicates that the driver has deviated from the typical driving behavior.

A vehicle control method comprising: obtaining first vehicle data and second vehicle data, processing the first vehicle data using the first computing system to obtain first structured data; processing the second vehicle data using the second computing system to obtain second structured data; and further controlling safe driving of a vehicle based on the first structured data and the second structured data, wherein the first structured data is used to represent an environment that is of the vehicle at a first time point and that is detected by the first group sensing apparatus, and the second structured data is used to represent an environment that is of the vehicle at the first time point and that is detected by the second group sensing apparatus.

Apparatuses, systems, and methods are provided for the utilization of vehicle control systems to cause a vehicle to take preventative action responsive to the detection of a near short term adverse driving scenario. A vehicle control system may receive information corresponding to vehicle operation data and ancillary data. Based on the received vehicle operation data and the received ancillary data, a multi-dimension risk score module may calculate risk scores associated with the received vehicle operation data and the received ancillary data. Subsequently, the vehicle control systems may cause the vehicle to perform at least one of a close call detection action and a close call detection alert to lessen the risk associated with the received vehicle operation data and the received ancillary data.

A vehicle control device includes a travel control unit configured to control travel of a vehicle on the basis of an action plan including a plurality of events that are sequentially executed to control acceleration and deceleration or steering when the vehicle travels; an abnormality detection unit configured to detect a specific abnormal state that affects a control result of the travel control unit based on the action plan; and a changing unit configured to change content controlled by the travel control unit on the basis of either or both of a type of an event being executed according to control by the travel control unit and a type of an event scheduled to be executed following the event being executed among events included in the action plan when the specific abnormal state is detected by the abnormality detection unit.

A control system for a vehicle comprises an automated driving control part configured to automatically perform driver assistance operations for which the driver has given permission among a plurality of driver assistance operations. The automated driving control part comprises a package determining part using at least one of the surrounding environment information, the host vehicle information, and the driver information as the basis to determine a driver assistance package packaging permissions for a plurality of driver assistance operations and a package proposing part proposing to the driver to switch to a driver assistance package so as to obtain permissions for the individual driver assistance operations permitted in the driver assistance package.

A method for identifying the contour of a vehicle based on measurement data from an environment sensor system is disclosed. The measurement data includes a set of spatial points of an object detected by the environment sensor system. The method includes: producing an envelope in the form of a polygonal chain around the object based on the set of spatial points; reducing the set of spatial points; removing spatial points from the polygonal chain that are irrelevant to identifying the contour of the vehicle and determining spatial points of the polygonal chain that are relevant to identifying the contour of the vehicle; classifying one or more edges as belonging to a front and a side of the vehicle on the basis of the reduced set of spatial points.

A driver assistance device, a driver assistance method, and a driver assistance system according to the present invention make it possible to: determine a departure risk of a vehicle departing from a drivable width of a road on which the vehicle travels, based on a driving environment ahead of the vehicle; determine, based on the departure risk, actuator operation variable-related information regarding an operation variable of an actuator related to a steering and/or braking/driving operation that causes the vehicle to travel along the target trajectory; and output the actuator operation variable-related information to the actuator. This allows for control that ensures stability of the vehicle and prevents lane departure of the vehicle in a compatible manner.

The subject matter described in this specification is directed to a computer system and techniques for operating an autonomous vehicle (AV) based on the availability of navigation information. In one example, while the AV is in an autonomous mode, first data is obtained from a first sensor and second data is obtained from a second sensor. A location of the AV is determined based on the first data and the second data. If navigational information is not available for the determined location, an alert is provided that the AV will exit the autonomous mode.

In a vehicle remote instruction system, a remote commander issues a remote instruction relating to travel of an autonomous driving vehicle based on sensor information from an external sensor that detects an external environment of the autonomous driving vehicle. The vehicle remote instruction system sets a range of information to be transmitted to the remote commander among the sensor information detected by the external sensor, as a limited information range, based on the external situation or an external situation obtained based on map information and a trajectory of the autonomous driving vehicle.