The intent to exit a vehicle when a driver attempts to exit a vehicle is detected by an exit intent detection unit, and regardless of whether or not the shift range other than the parking range is detected by a shift range detection unit, a securing control unit controls a vehicle securing unit and secures the vehicle when an intent to secure is detected by a securing intent detection unit. Thus, unintended vehicle movement after exiting is suppressed by securing the vehicle in a stopped state during exiting.

A traveling control apparatus includes an operation amount calculating unit for calculating the amount of operations for controlling at least one of a driving mechanism and a braking mechanism of a vehicle to make the difference between a target position and the actual position of the vehicle small; a determining unit for determining whether the actual position follows the target position; and a target position setting unit for setting the target position that changes with time passage, when it is determined by the determining unit that the actual position follows the target position. The target position setting unit sets the target position so a change in the target position with the time passage becomes smaller than that in the case where it is determined that the actual position follows the target position, when it is determined by the determining unit that the actual position does not follow the target position.

A brake control device capable of suppressing a sense of discomfort felt by a driver. The brake control device (31) includes a braking command addition part (34A) for adding an automatic-brake braking command value (B) output from an automatic-brake braking command calculation part (32) and a pedal operation braking command value (A) output from a pedal operation braking command calculation part (34B). The pedal operation braking command calculation part includes a pedal operation braking command selection part (34B1), a normal brake characteristic part (34B2) for holding a normal brake characteristic, and an automatic brake characteristic part (34B3) for holding an automatic brake characteristic. The pedal operation braking command selection part selects a braking command value output from the automatic brake characteristic part when the automatic-brake braking command value is more than 0, and outputs the selection result to the braking command addition part as the pedal operation braking command value.

A brake control device capable of suppressing a sense of discomfort felt by a driver. The brake control device (31) includes a braking command addition part (34A) for adding an automatic-brake braking command value (B) output from an automatic-brake braking command calculation part (32) and a pedal operation braking command value (A) output from a pedal operation braking command calculation part (34B). The pedal operation braking command calculation part includes a pedal operation braking command selection part (34B1), a normal brake characteristic part (34B2) for holding a normal brake characteristic, and an automatic brake characteristic part (34B3) for holding an automatic brake characteristic. The pedal operation braking command selection part selects a braking command value output from the automatic brake characteristic part when the automatic-brake braking command value is more than 0, and outputs the selection result to the braking command addition part as the pedal operation braking command value.

A system and method are provided and include a subject vehicle having a sensor that senses information about an environment of the subject vehicle. An actuator rotates the sensor according to a commanded angle. A controller determines a position and a trajectory path of the subject vehicle, determines an adaptive point along the determined trajectory path based on the position, and generates the commanded angle for the actuator to rotate the sensor towards the adaptive point.

A system and method are provided and include a subject vehicle having a sensor that senses information about an environment of the subject vehicle. An actuator rotates the sensor according to a commanded angle. A controller determines a position and a trajectory path of the subject vehicle, determines an adaptive point along the determined trajectory path based on the position, and generates the commanded angle for the actuator to rotate the sensor towards the adaptive point.

A vehicle according to the present disclosure includes a brake device and an electronic control unit. The brake device is configured to change a front-rear distribution ratio of braking force with respect to front and rear wheels. The electronic control unit is configured to: control the brake device such that the front-rear distribution ratio is in accordance with a fixed distribution characteristic in which the front-rear distribution ratio is constant regardless of deceleration of the vehicle in at least a part of a first range being a required deceleration range lower than a lower limit value of the deceleration perceivable by a person in the vehicle; and control the brake device such that the front-rear distribution ratio is biased toward the rear wheel than that in the fixed distribution characteristic in a second range in which the deceleration is higher than that in the first range.

A vehicle according to the present disclosure includes a brake device and an electronic control unit. The brake device is configured to change a front-rear distribution ratio of braking force with respect to front and rear wheels. The electronic control unit is configured to: control the brake device such that the front-rear distribution ratio is in accordance with a fixed distribution characteristic in which the front-rear distribution ratio is constant regardless of deceleration of the vehicle in at least a part of a first range being a required deceleration range lower than a lower limit value of the deceleration perceivable by a person in the vehicle; and control the brake device such that the front-rear distribution ratio is biased toward the rear wheel than that in the fixed distribution characteristic in a second range in which the deceleration is higher than that in the first range.

A method of operating a brake redundancy device including a main braking controller and a backup braking controller, includes: confirming whether or not a command signal for deceleration of the vehicle has been received, by the backup braking controller; executing a front-wheel braking mode by the backup braking controller when the command signal has been received; determining whether or not an allowable condition for providing the hydraulic pressure to wheel cylinders of rear wheels has been satisfied; and executing a rear-wheel braking mode through a cooperative control of the main braking controller and the backup braking controller when the allowable condition has been satisfied, wherein in the executing of the rear-wheel braking mode, the hydraulic pressure is provided from the backup braking controller to a portion of the main braking controller.

A method avoids a collision of a motor vehicle initially moving backwards or forwards, in particular leaving a parking place, with cross-traffic. The method detects whether there is a risk of collision with cross-traffic; determines a last possible braking intervention for ensuring avoidance of collision when there is a risk of collision with cross-traffic; and performs an automatic last possible initiation of a braking intervention for preventing the collision in the event of an identified risk of collision, if avoidance of the collision is ensured thereby.