A map construction method and a related apparatus are provided. The method includes: obtaining, based on manual driving track data and/or an obstacle grid map, road information, intersection information, and lane information of a region through which a vehicle has traveled; obtaining road traffic direction information based on the manual driving track data and the road information, and obtaining lane traffic direction information based on the lane information and the road traffic direction information; obtaining intersection entry and exit point information based on the intersection information and the lane traffic direction information; and performing, based on the intersection entry and exit point information, an operation of generating a virtual topology center line to obtain an autonomous driving map of the region through which the vehicle has traveled, where the virtual topology center line is a traveling boundary line of the vehicle in an intersection region.

The vehicle control device controls a vehicle configured to receive power by non-contact from a power transmission coil when passing over the power transmission coil. The vehicle control device includes a processor configured to set a target speed of the vehicle in a power supply area where the power transmission coil is installed. The processor is configured to lower the target speed when at least one predetermined condition is satisfied, compared to when the at least one predetermined condition is not satisfied. The at least one predetermined condition includes a first condition relating to a running environment around the vehicle.

A vehicle includes a position recognition module that creates position information, a road information combining module configured to create first precise map information including a driving route of the vehicle, an object combining module that creates second precise map information including a driving route of a surrounding vehicle around the present vehicle, a lane link determination module that selects, from the second precise map information, a lane link at which a first lane and a second lane intersect or join each other, a target determination module configured to determine a target vehicle, a pass priority determination module that determines a pass priority at which each of the present vehicle and the target vehicle passes through the lane link, an object route creation module that creates a driving route of the target vehicle, and an adaptive route determination module that determines an adaptive driving route of the present vehicle.

Aspects of the disclosure may enable autonomous vehicles to respond to emergency vehicles. For instance, sensor data identifying an emergency vehicle approaching the autonomous vehicle may be received. A predicted trajectory for the emergency vehicle may be received. Whether the autonomous vehicle is impeding the emergency vehicle may be determined based on the predicted trajectory and map information identifying a road on which the autonomous vehicle is currently traveling. Based on a determination that the autonomous vehicle is impeding the emergency vehicle, the autonomous vehicle may be controlled in an autonomous driving mode in order to respond to the emergency vehicle.

An evacuation running assistance system includes a peripheral environment recognizer to recognize at least a space of a road shoulder and a free space as a non-traffic portion, a time limit setter to set a time limit on the own vehicle for continuing evacuation running, and an evacuation place setter to determine at least one of the road shoulder space and the free space recognized by the peripheral environment recognizer as an evacuation place where the own vehicle is evacuated. A situation determiner determines a situation of an own vehicle as being in one of situations in which evacuation running is to be continued, running of an own vehicle is to be stopped on a lane, and road shoulder evacuation is to be performed based on the time limit. A controller controls the own vehicle based on the situation of the own vehicle determined by the situation determiner.

Disclosed are an apparatus for controlling a vehicle, a system including the apparatus, and a method for controlling the apparatus. The apparatus includes: a reference lane calculator to calculate a reference lane based on a traveling condition of the vehicle; a target determining device to determine a target of interest based on the reference lane and a predicted path of an object around the vehicle; and a control parameter calculating device to calculate a control parameter of the vehicle based on a traveling state of the target of interest.

A lane localization system and method that may include a first measurement distance sensor located on a right-hand side of a vehicle and a second measurement distance sensor located on a left-hand side of the vehicle. The system and method may also be operable to receive data from at least one of the first measurement distance sensor or the second measurement distance sensor. The system and method may further determine which lane along a road the vehicle is traveling within based on a comparison a frequency of one or more echoes indicative of one or more objects located on the right-hand side and the left-hand side of the vehicle.

A method for controlling a vehicle including: based on map information including information of an installation position of a traffic light and information of a lane controlled by the traffic light and a range of the angle of view of a camera mounted on the own vehicle, calculating an imaging-enabled area in which an image of the traffic light can be captured on the lane by the camera; determining whether or not the own vehicle is positioned in the imaging-enabled area; and when the own vehicle is positioned in the imaging-enabled area, controlling the own vehicle in such a way that the traffic light is not shielded from the range of the angle of view of the camera by a preceding vehicle of the own vehicle.

Technologies and techniques for assigning the lane in which a vehicle is currently driven, wherein input variables of at least one data source are detected to determine the lane currently being driven in, and wherein at least one data source includes signals from an environmental sensor system of the vehicle. In cases in which the possibility of unequivocal assignment of the lane in which a vehicle is currently driven is improved, it is provided that at least one data source includes a C2X communication.

A driving assistance apparatus includes a driving environment information obtaining unit that obtains driving environment information ahead of a vehicle, a target object recognizer that recognizes a target object based on the driving environment information, an object detection area setter that sets an object detection area ahead of the vehicle, and a driving control arithmetic unit that controls a driving state of the vehicle when the target object is detected in the object detection area. The object detection area setter includes a stop area setter that sets a stop area, and a deceleration area setter that sets left and right deceleration areas. The driving control arithmetic unit includes a stop controller that controls the vehicle to stop when the target object is detected in the stop area, and a deceleration controller that controls the vehicle to decelerate when the target object is detected in at least one of the left and right deceleration areas.