A method of operating a vehicle of determining whether the vehicle is operating in a road segment with a low visibility condition to cause a loss of input of sensor data to a vehicle controller that operates an assist feature, activating one or more adaptive alerts based on a road departure risk of the vehicle, and driver use of the assist feature in the upcoming road segment, wherein the road departure risk is determined by calculating a road departure risk index that compares an estimated vehicle path based on the vehicle state data with a probabilistic vehicle path for the upcoming road segment; and predicting whether will operate within an acceptable path in the upcoming road segment; and tracking the vehicle in the upcoming road segment based on vehicle navigation data to provide at least one adaptive alert based on a prediction of the road departure risk.

A method of operating a vehicle of determining whether the vehicle is operating in a road segment with a low visibility condition to cause a loss of input of sensor data to a vehicle controller that operates an assist feature, activating one or more adaptive alerts based on a road departure risk of the vehicle, and driver use of the assist feature in the upcoming road segment, wherein the road departure risk is determined by calculating a road departure risk index that compares an estimated vehicle path based on the vehicle state data with a probabilistic vehicle path for the upcoming road segment; and predicting whether will operate within an acceptable path in the upcoming road segment; and tracking the vehicle in the upcoming road segment based on vehicle navigation data to provide at least one adaptive alert based on a prediction of the road departure risk.

Provided is a determination device capable of safely and reliably causing a vehicle on a side road to enter and merge into a main road when merging into the main road. Information is acquired that indicates the vehicle status of vehicles CA, etc., and vehicles Ca, etc., that are traveling on a side road SR that merges with a main road MR on which the vehicles CA, etc., are traveling. When, on the basis of said information, an intervehicular space is to be formed between the vehicles CA, etc., that will make it possible for a vehicle Ca, etc., to enter, the vehicles CA, etc., are caused to form an interval on the basis of the acceleration applied to each of the vehicles CA, etc., and the entering vehicle Ca, etc., is allowed to move to a position in the intervehicular space.

Provided is a determination device capable of safely and reliably causing a vehicle on a side road to enter and merge into a main road when merging into the main road. Information is acquired that indicates the vehicle status of vehicles CA, etc., and vehicles Ca, etc., that are traveling on a side road SR that merges with a main road MR on which the vehicles CA, etc., are traveling. When, on the basis of said information, an intervehicular space is to be formed between the vehicles CA, etc., that will make it possible for a vehicle Ca, etc., to enter, the vehicles CA, etc., are caused to form an interval on the basis of the acceleration applied to each of the vehicles CA, etc., and the entering vehicle Ca, etc., is allowed to move to a position in the intervehicular space.

A system for estimating a trajectory of a vehicle includes vehicle state sensors detecting a state of movement of the vehicle and environment sensors monitoring an environment of the vehicle. A free space module determines a free space corridor based on the detected state of movement of the vehicle and the monitored environment of the vehicle. A goal point determination module determines at least one goal point for the trajectory to be estimated based on the free space corridor. A trajectory planning module estimates a reference trajectory based on the at least one goal point and calculates a deviation between an actual trajectory and the reference trajectory of the vehicle. A trajectory control module minimizes the deviation between the actual trajectory and the reference trajectory of the vehicle and outputs optimal control parameters for the movement of the vehicle based on the minimized deviation.

A system for estimating a trajectory of a vehicle includes vehicle state sensors detecting a state of movement of the vehicle and environment sensors monitoring an environment of the vehicle. A free space module determines a free space corridor based on the detected state of movement of the vehicle and the monitored environment of the vehicle. A goal point determination module determines at least one goal point for the trajectory to be estimated based on the free space corridor. A trajectory planning module estimates a reference trajectory based on the at least one goal point and calculates a deviation between an actual trajectory and the reference trajectory of the vehicle. A trajectory control module minimizes the deviation between the actual trajectory and the reference trajectory of the vehicle and outputs optimal control parameters for the movement of the vehicle based on the minimized deviation.

Path generation apparatus configured to generate target travel path of own vehicle traveling in travel lane, includes: external sensor mounted on own vehicle and configured to detect external situation centered on advancing direction of own vehicle; vehicle speed sensor configured to detect travel speed of own vehicle; and electronic control unit including processor and memory coupled to processor. Electronic control unit is configured to perform: setting target passing point on travel lane based on external situation; and generating target travel path from current location point of own vehicle to target passing point. Setting target passing point includes setting target passing point after predetermined time period when travel speed is equal to or higher than predetermined value, while setting target passing point to predetermined distance ahead from current location point when travel speed is lower than predetermined value.

Path generation apparatus configured to generate target travel path of own vehicle traveling in travel lane, includes: external sensor mounted on own vehicle and configured to detect external situation centered on advancing direction of own vehicle; vehicle speed sensor configured to detect travel speed of own vehicle; and electronic control unit including processor and memory coupled to processor. Electronic control unit is configured to perform: setting target passing point on travel lane based on external situation; and generating target travel path from current location point of own vehicle to target passing point. Setting target passing point includes setting target passing point after predetermined time period when travel speed is equal to or higher than predetermined value, while setting target passing point to predetermined distance ahead from current location point when travel speed is lower than predetermined value.

Path generation apparatus configured to generate target travel path of vehicle, includes: external sensor mounted on vehicle and configured to detect external situation centered on advancing direction of vehicle; and electronic control unit including processor and memory coupled to processor. Electronic control unit is configured to perform: recognizing travel lane where vehicle travels based on external situation detected by external sensor; deriving first function representing travel path along center of travel lane; calculating curvature radius of travel lane; determining offset amount to be offset inward in turning direction from center of travel lane based on curvature radius; and deriving second function representing target travel path of vehicle that has been offset based on first function and offset amount.

Path generation apparatus configured to generate target travel path of vehicle, includes: external sensor mounted on vehicle and configured to detect external situation centered on advancing direction of vehicle; and electronic control unit including processor and memory coupled to processor. Electronic control unit is configured to perform: recognizing travel lane where vehicle travels based on external situation detected by external sensor; deriving first function representing travel path along center of travel lane; calculating curvature radius of travel lane; determining offset amount to be offset inward in turning direction from center of travel lane based on curvature radius; and deriving second function representing target travel path of vehicle that has been offset based on first function and offset amount.