Provided is a travel evaluation method of making an evaluation related to travel of a vehicle capable of traveling in a leaning position, the method including: obtaining a tire force which is an external force exerted on a wheel of the vehicle from a ground surface; and deriving an evaluation index related to travel of the vehicle. The evaluation index includes a positive evaluation index as a rating of a positive evaluation related to travel of the vehicle. In deriving the evaluation index, the positive evaluation index is set higher as the tire force increases, and the evaluation index is corrected based on an influential parameter other than the tire force.

A vehicle control method for controlling a vehicle using a vehicle control apparatus includes: a sensor configured to detect a state outside a subject vehicle; and a control device. The vehicle control method includes: executing control of recovering a travel trajectory of the subject vehicle to a target trajectory, as ordinary control, by giving a steering amount in a lateral direction with respect to a travel lane of the subject vehicle; using detection data of the sensor to determine whether or not another vehicle is traveling in an adjacent lane to the travel lane of the subject vehicle; and when determining that the other vehicle is traveling in the adjacent lane ahead of the subject vehicle, increasing a response of the steering amount to a higher response than that in the ordinary control, before the subject vehicle passes the other vehicle.

A vehicle control system includes a position recognition part that recognizes a position of a vehicle, a trajectory generating part that generates a trajectory which includes a plurality of future target positions to be reached by the vehicle, the plurality of future target positions being consecutively aligned in time series, and a travel controller that derives a target speed when the vehicle is caused to travel along the trajectory on the basis of a distance between the plurality of target positions included in the trajectory and that corrects the target speed on the basis of a first deviation between the position of the vehicle recognized by the position recognition part and a first target position corresponding to a recognition time at which the recognition of the position of the vehicle has been performed among the plurality of target positions.

A collision avoidance assist apparatus executes an emergency steering control including processes to determine a target steering torque used to change a steering angle to avoid a collision of a vehicle with an obstacle so as not to move the vehicle out of a moving lane when the vehicle has a high probability of colliding with the obstacle, and the moving lane is a straight lane, and applies a steering torque corresponding to the determined target steering torque to a steering mechanism. The collision avoidance assist apparatus stops executing the emergency steering control when determining that the moving lane is a curved lane, based on only one of left and right lane markings at an avoidance side of the obstacle which is the left or the right side of the obstacle which the vehicle passes over while executing the emergency steering control.

A control unit is provided for an ego vehicle equipped with a transverse guidance actuator which is designed to transversely guide the ego vehicle in an at least partly automated manner during a follow-on drive. The control unit is designed to detect a transverse guidance maneuver of the ego vehicle required for the follow-on drive. The control unit is additionally designed to ascertain driver information with respect to the driver of the ego vehicle, the driver information including at least one indication of how engaged the driver is with monitoring and/or carrying out the transverse guidance of the ego vehicle. The control unit is further designed to set a dynamic of an intervention, which is automatically carried out by the transverse guidance actuator of the ego vehicle, for the transverse guidance maneuver on the basis of the ascertained driver information.

A vehicle control system includes a controller circuit in communication with a steering sensor and one or more perception sensors. The steering sensor is configured to detect a steering torque of a steering wheel of a host vehicle. The one or more perception sensors are configured to detect an environment proximate the host vehicle. The controller circuit is configured to determine when an operator of the host vehicle requests a take-over from fully automated control of the host vehicle based on the steering sensor. The controller circuit classifies the take-over request based on the steering sensor.

A vehicle control system includes an automatic driving control unit executing a first driving mode in which at least one of acceleration/deceleration and steering of a subject vehicle is automatically controlled and an environment control unit controlling an environment device of the subject vehicle such that an environment of the inside of a vehicle cabin is in a state appropriate for a second driving mode in a case in which the automatic driving control unit ends execution of the first driving mode and transitions to a second driving mode of which a degree of automatic driving is lower than that of the first driving mode.

A vehicle driving assist system includes a steering wheel contact position detector, a steering torque detector, a driving mode setting calculator, and a steering override determiner. The driving mode setting calculator is configured to set a driving mode including a first driving assist mode, a second driving assist mode, and a manual driving mode. The driving mode setting calculator is configured, while traveling in a current driving mode that is the first driving assist mode or the second driving assist mode, to allow the current driving mode to continue in a case where the steering override determiner has determined that a steering torque detected by the steering torque detector is a false detection or to cause the driving mode to make a transition to the manual driving mode in a case where the steering override determiner has determined that the steering torque is a steering override intended by a driver.

An autonomous driving control device is capable of starting an autonomous driving control without an operation of a driver and reducing a possibility that the driver can not start manual driving. An autonomous driving control is switched to manual driving when a determination section determines that the amount of operation by the driver is equal to or greater than a first threshold, before a predetermined time elapses since the autonomous driving control is automatically started. An autonomous driving control is switched to a manual driving when the determination section determines that the amount of operation by the driver is equal to or greater than a second threshold that is greater than the first threshold, after the predetermined time elapses.

A method for estimating a longitudinal force difference ΔFx acting on steered axle wheels of a vehicle, the method comprising obtaining data from the vehicle related to an applied steering torque M.sub.steer associated with the steered axle wheels, obtaining a scrub radius value r.sub.s associated with the steered axle wheels, and estimating the longitudinal force difference ΔFx, based on the obtained data and on the scrub radius r.sub.s, as proportional to the applied steering torque M.sub.steer and as inversely proportional to the scrub radius r.sub.s.