A cruise control method to control a driven vehicle includes: determining projected speeds of the driven vehicle at each of the predetermined-upcoming locations; determining a plurality of following times at each of the predetermined-upcoming locations of the driven vehicle and the projected speeds of the followed vehicle; determining whether at least one of the plurality of following times is less than the predetermined-minimum time threshold; and in response to determining that at least one plurality of following times is less than the predetermined-minimum time threshold, commanding, by the controller, the propulsion system of the driven vehicle to decrease the commanded axle torque by a torque adjustment in order to prevent each of the plurality of following times at each of the predetermined-upcoming locations from being less than the predetermined-minimum time threshold.

A vehicle control apparatus configured to control a driving motor coupled to at least one wheel includes a motor controller, a vehicle speed calculator, and a vehicle speed setter. The motor controller controls the driving motor in a constant speed driving mode. The vehicle speed calculator calculates a first vehicle speed based on a rotation angle of the driving motor. The vehicle speed setter sets, as a driving speed in the constant speed driving mode, a second vehicle speed based on the first vehicle speed and a brake operation amount. The vehicle speed setter sets zero as the second vehicle speed when the brake operation amount exceeds its threshold and the first vehicle speed falls below its threshold, and sets the first vehicle speed as the second vehicle speed when the brake operation amount does not exceed its threshold r the first vehicle speed does not fall below its.

The present invention is a method for determining an optimal speed of a first vehicle preceded by a second vehicle. Position, speed and acceleration of the second vehicle are measured in order to determine a trajectory thereof, and a dynamic model of the first vehicle is constructed. The optimal speed is then determined by minimizing the energy consumption of the vehicle by use of the dynamic model by minimization being constrained by the trajectory of the second vehicle.

A vehicle acquires position information of the obstacle, identifies a collision point that may collide with the obstacle based on the acquired position information of the obstacle, controls one of steering and braking based on the position information of the identified collision point, and when controlling the steering, acquires a collision avoidance margin distance value corresponding to the position information of the identified collision point, predicts the collision position based on the position information of the obstacle and the information detected by the velocity detector, acquires a distance value between the predicted collision position and the current position, acquires a lateral movement distance value based on the acquired distance value and a preset turning radius of the vehicle, acquires a steering angle based on the acquired lateral movement distance value and the acquired collision avoidance margin distance value and controls steering based on the acquired steering angle.

A driving support apparatus is provided with: a recognizer configured to obtain information indicating a surrounding environment of a host vehicle, and configured to recognize a deceleration required target, which is a target that requires deceleration of the host vehicle; and a supporter configured to perform a driving support operation for supporting the deceleration of the host vehicle, on condition that the deceleration required target is recognized by the recognizer. If a recognition situation, which is recognized by said recognizer, of the deceleration required target that causes the driving support operation to be performed becomes uncertain while performing the driving support operation, said supporter is configured to maintain a preceding operating state of the driving support operation, which is an operating state immediately before the recognition situation becomes uncertain.

According to one example, a system for control of a movement of a working vehicle within a work area is disclosed. The system can optionally include a steering system configured to direct the movement of the working vehicle, an object detection system, as speed sensor, and a controller. The object detection system can have one or more sensors configured to detect an object within the work area. The speed sensor can be configured to measure a speed of the working vehicle over a surface within the work area. The controller can be communicatively coupled to the steering system, the object detection system and the speed sensor. The controller can be configured to control the speed of the working vehicle based upon a steering angle of the working vehicle.

A device for setting a target vehicle that sets a target vehicle to be subjected to driving assistance control of a host vehicle includes: a detection signal acquisition device capable of acquiring a first detection signal representing an object by an image, and a second detection signal representing the object by a reflection point; and setting control unit, which determines whether to set a forward object as a target vehicle, wherein if a movement history is not associated with the forward object, and a combination history is associated with the forward object, then as a selection threshold of a first determination parameter for determining whether to set the forward object as the target vehicle, a selection threshold is used such that the forward object is less likely to be selected as the target vehicle than with the selection threshold which would be used if a movement history is associated with the forward object.

A cruise control method to control a driven vehicle includes: determining projected speeds of the driven vehicle at each of the predetermined-upcoming locations; determining a plurality of following times at each of the predetermined-upcoming locations of the driven vehicle and the projected speeds of the followed vehicle; determining whether at least one of the plurality of following times is less than the predetermined-minimum time threshold; and in response to determining that at least one plurality of following times is less than the predetermined-minimum time threshold, commanding, by the controller, the propulsion system of the driven vehicle to decrease the commanded axle torque by a torque adjustment in order to prevent each of the plurality of following times at each of the predetermined-upcoming locations from being less than the predetermined-minimum time threshold.

An apparatus for controlling a transmission of a vehicle includes: a determination device that decides whether to perform a forward vehicle-based deceleration tracking control, based on information of the vehicle and a forward vehicle, when the vehicle starts to coast; a calculation device that calculates a target velocity and a target distance based on a position and a velocity of the forward vehicle, when the forward vehicle-based deceleration tracking control is decided to be performed; a gear position decision device that constructs deceleration profiles for respective gears and decides a final gear based on the target velocity and the target distance calculated; and a controller that controls the transmission based on the final gear.

A method of controlling autonomous driving of a vehicle includes: selecting a target object ahead of the vehicle based on driving information, generating a velocity profile for maintaining a desired distance to the target object, calculating a desired acceleration based on the velocity profile and a delay time of the vehicle, and controlling an actuator of the vehicle based on the desired acceleration.