A smooth cooperative lane change control method for multi-connected and autonomous vehicles (CAVs), including: acquiring vehicle information of a lane-changing vehicle M and four surrounding vehicles A, B, C and D; constructing uncontrolled-vehicle and controlled-vehicle motion state prediction models; according to the motion state prediction models, predicting motion states of the lane-changing vehicle M, and the vehicles A, B, C and D; constructing an upper-layer optimization model to calculate an optimal control value and an optimized motion state of the lane-changing vehicle M and an optimal control value of the vehicle A; constructing a lower-layer optimization model to calculate an optimal control value of the vehicle D; and controlling the lane-changing vehicle M, the vehicle A and the vehicle D to run according to a corresponding optimal control value.

A traveling control apparatus includes a microprocessor configured to perform: determining whether a second other vehicle is located within a predetermined range from a subject vehicle when the subject vehicle and a first other vehicle are closer than a predetermined degree in a traveling direction, when the first other vehicle traveling in a first adjacent lane adjacent to a current lane, which has a same traveling direction as the current lane, and the second other vehicle traveling in a second adjacent lane adjacent to the current lane are recognized; and when it is determined in the determining that the second other vehicle is located within the predetermined range, controlling a actuator so that a distance in the traveling direction from the subject vehicle to the first other vehicle becomes not less than a predetermined distance.

The present invention relates to a vehicle control device for a vehicle, comprising a number of first control devices which are independent of each other and are arranged in a first logical level and designed to calculate predetermined first vehicle control functions and to output first calculation results, a number of further control devices which are independent of each other, are arranged in a number which is superordinate from the first logical level and hierarchically arranged among each other and are designed to calculate further predetermined vehicle control functions and to output further calculation results. According to the invention, the further control devices are designed to use calculation results only of those control devices as input variables for the corresponding vehicle control functions which are arranged in logical levels hierarchically below the logical level of the respective control device.

A vehicular driving assist system includes a plurality of cameras disposed at a vehicle and an image processor that processes captured image data. With a trailer equipped with at least one trailer camera hitched to the vehicle, a display screen displays video images derived from captured image data. The system determines a reversing path for the vehicle and trailer to follow to assist the driver in backing up the trailer, and generates a graphic overlay at the display screen that indicates the determined reversing path. During the backing up maneuver of the trailer hitched to the vehicle, and responsive to determination of an object rearward of the trailer, the system (i) determines an adjusted reversing path to avoid the object and (ii) adjusts the graphic overlay to indicate the adjusted reversing path of the vehicle and trailer for the driver to follow in backing up the trailer.

A vehicle comprises an autonomous driving system and a vehicle platform that controls the vehicle in response to a command received from the autonomous driving system. In the vehicle, when a first signal indicates an autonomous mode, the vehicle platform performs a shift change requested through a first command only while the second signal indicates a standstill.

A system includes a processor and a memory storing instructions which when executed by the processor configure the processor to receive data from a plurality of sensors in a vehicle, the sensors including a Global Navigation Satellite System receiver, accelerometers, gyroscopes, and magnetometers; and to determine a location of the vehicle and a direction of motion of the vehicle based on the data and a history of locations of the vehicle in prior N seconds, where N is a number greater than 0. The instructions configure the processor to determine a permitted driving direction for the vehicle based on the location of the vehicle and a map database; and to detect whether the vehicle is moving in a wrong direction based on the permitted driving direction and the direction of motion of the vehicle.

A vehicle, a vehicle speed control system, and a method of controlling vehicle speed are provided. The vehicle may include a powertrain and a controller. The controller may be programmed to reduce a powertrain output based on a braking comfort parameter such that a speed becomes less than a threshold speed associated with the parking maneuver prior to completion of the parking maneuver.

A practical application of autonomous vehicle control couples vehicle trajectory and road curvature, taking advantage of their interdependency. As a result, if cameras or other lane-informing sensors go out in an autonomous vehicle, it still is possible to use GPS signals and the curvature to keep vehicles safely in their lanes while drivers can be alerted and can decide how to proceed (that is, by continuing autonomous vehicle control, or taking over operation of the vehicle manually).

A vehicle reverse traveling speed limiting apparatus includes a fluid pressure detector, a brake driver, a limiting speed setter, and a reverse traveling speed controller. The fluid pressure detector detects a brake fluid pressure. The brake driver causes a main brake to perform braking based on a set instruction fluid pressure. The limiting speed setter sets a limiting speed upon reverse traveling. The reverse traveling speed controller executes torque and brake controls to allow an actual vehicle speed of a vehicle to be maintained at the limiting speed. When the actual vehicle speed is higher than the limiting speed, the reverse traveling speed controller sets the instruction fluid pressure to allow the actual vehicle speed to be converged to the limiting speed, and executes, even when the brake fluid pressure is higher than the instruction fluid pressure, the brake control to allow the instruction fluid pressure to be maintained.

Provided is a vehicle path generating apparatus at an intersection and an apparatus and method for controlling a vehicle at an intersection that are capable of providing safe autonomous driving at an intersection by calculating the accurate position of an intersection point, which is a cut position of a lane or a crossing position of lanes, in an intersection area using map information and/or image information, precisely calculating a vehicle movement path in the intersection on the basis of the calculated position of the intersection point, and automatically controlling a travel of the vehicle according to the calculated vehicle travel path.