According to one embodiment, a system receives a captured image perceiving an environment of an autonomous driving vehicle (ADV) from an image capturing device of the ADV capturing a plurality of obstacles near the ADV. The system generates a first tunnel based on a width of a road lane for the ADV, where the first tunnel represents a passable lane for the ADV to travel through. The system generates one or more additional tunnels based on locations of the obstacles, where the one or more additional tunnels modify a width of the passable lane according to a level of invasiveness of the obstacles. The system generates a trajectory of the ADV based on the first and the additional tunnels to control the ADV according to the trajectory to navigate around the obstacles without collision.

A vehicle control system includes a plurality of driving assistance devices configured to sequentially send request signals including requests to an actuator in the vehicle and identifiers of the driving assistance devices to an in-vehicle network, a movement manager device configured to acquire the request signals from the in-vehicle network, select one of the identifiers respectively included in the acquired request signals based on a predetermined rule, and sequentially send a control signal including at least the selected identifier to the in-vehicle network, and an actuator control device configured to sequentially acquire the request signal and the control signal from the in-vehicle network, when the control signal is acquired, select a latest request signal including the identifier included in the acquired latest control signal among the acquired request signals, and decide a control value of the actuator based on the request included in the selected request signal.

A surrounding environment recognition device recognizes a surrounding environment around a vehicle. A traveling control unit centrally controls a whole of the entire vehicle. An obstacle presumer presumes presence of an obstacle ahead of the vehicle based on a behavior distribution of preceding vehicles recognized by the surrounding environment recognition device, and estimates a position and an area where the obstacle is present when the presence of the obstacle is presumed. A traveling path calculator calculates candidates for traveling path areas along which the vehicle is expected to travel while avoiding collision with the presumed obstacle. A traveling path selector selects a traveling path area from among the calculated traveling path areas and sets the selected traveling path area. The traveling control unit controls the vehicle to travel along the set traveling path area.

A surrounding environment recognition device recognizes a surrounding environment around a vehicle. A traveling control unit centrally controls a whole of the entire vehicle. An obstacle presumer presumes presence of an obstacle ahead of the vehicle based on a behavior distribution of preceding vehicles recognized by the surrounding environment recognition device, and estimates a position and an area where the obstacle is present when the presence of the obstacle is presumed. A traveling path calculator calculates candidates for traveling path areas along which the vehicle is expected to travel while avoiding collision with the presumed obstacle. A traveling path selector selects a traveling path area from among the calculated traveling path areas and sets the selected traveling path area. The traveling control unit controls the vehicle to travel along the set traveling path area.

An automatic steering control device includes a forward recognition device, a traveling state detector, a lateral positional deviation calculator, a steering angle controller. The lateral positional deviation calculator calculates a first lateral positional deviation that is the lateral positional deviation ahead of the vehicle by a first distance, and a second lateral positional deviation that is the lateral positional deviation ahead of the vehicle by a second distance larger than the first distance. The steering angle controller performs first control on the steering angle so that an absolute value of the first lateral positional deviation decreases, and second control on the steering angle based on the second lateral positional deviation so that a difference between a change amount of the steering angle in the first control and a change amount of an actual steered angle that is a steered angle of wheels of the vehicle decreases.

When a marker on a road is detected, an automated driving apparatus mounted on a vehicle determines whether to perform automated driving based on comparison between a relative movement log from the marker as a start point according to autonomous navigation and shape point data concerning a lane acquired from the most recent map data.

When a marker on a road is detected, an automated driving apparatus mounted on a vehicle determines whether to perform automated driving based on comparison between a relative movement log from the marker as a start point according to autonomous navigation and shape point data concerning a lane acquired from the most recent map data.

A system for control of a steering system of a vehicle. The system including an actuator for applying a force or a torque to the steering system. A force or torque can be superimposed on a force or torque originating from the wheels. The system includes a detection unit disposed on the vehicle and configured for anticipatorily detecting at least one surface condition of a surface section located ahead of the vehicle in the direction of vehicle travel and subsequently driven on by the vehicle. The system including a data processing unit disposed on the vehicle and connected to and communicating with the detection unit. The data processing unit configured for generating control signals for controlling an actuator of the steering system based on the detected surface condition.

A system for control of a steering system of a vehicle. The system including an actuator for applying a force or a torque to the steering system. A force or torque can be superimposed on a force or torque originating from the wheels. The system includes a detection unit disposed on the vehicle and configured for anticipatorily detecting at least one surface condition of a surface section located ahead of the vehicle in the direction of vehicle travel and subsequently driven on by the vehicle. The system including a data processing unit disposed on the vehicle and connected to and communicating with the detection unit. The data processing unit configured for generating control signals for controlling an actuator of the steering system based on the detected surface condition.

A device for assisting in the driving of a motor vehicle includes a line detector for detecting the boundary line of a traffic lane, a setup module capable of establishing a virtual lane from the line detected, a monitoring module capable of monitoring the risk of the motor vehicle leaving the virtual lane established. The device also includes a module for acquiring an image representing a relevant object. The setup module includes a first map containing values of a position of a virtual-lane boundary according to a lateral shift of the relevant object in the acquired image.