A vehicle collision avoidance assist apparatus executes a collision avoidance control for avoiding a collision of an own vehicle with an object ahead of the own vehicle. The apparatus determines whether a driver of the own vehicle has a collision self-avoidance probability that the driver can avoid the collision of the own vehicle with the object ahead of the own vehicle by carrying out a driving operation to the own vehicle. When the apparatus determines that the driver does not have the collision self-avoidance probability, the apparatus sets a start timing of starting executing the collision avoidance control to a timing earlier than the start timing set when the apparatus determines that the driver has the collision self-avoidance probability.

A vehicle behavior control method is suitable for a vehicle behavior control device. The vehicle behavior control device includes: a lateral acceleration sensor, detecting lateral acceleration occurring in a vehicle body; a wheel speed sensor, detecting a wheel speed of a wheel; a steering angle sensor, detecting a steering angle of the wheel; a steering angle lateral acceleration calculation unit, calculating steering angle lateral acceleration from the wheel speed and the steering angle; and a yaw moment control unit, applying yaw moment to the vehicle body. In the vehicle behavior control method, when the lateral acceleration and the steering angle lateral acceleration meet a predetermined condition, a yaw moment directed inward in a turning direction of the vehicle body is applied by the yaw moment control unit.

Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: obtaining ride preference information associated with a user, identifying a current vehicle pose, determining a motion plan for the vehicle along a route based at least in part on the ride preference information, the current vehicle pose, and vehicle kinematic and dynamic constraints associated with the route, and operating one or more actuators onboard the vehicle in accordance with the motion plan. The user-specific ride preference information influences a rate of vehicle movement resulting from the motion plan.

A driving assist system includes: a first detection unit configured to detect first rotational information that is information about rotation of a left wheel of a vehicle; a second detection unit configured to detect second rotational information that is information about rotation of a right wheel of the vehicle; and a processing unit configured to estimate a running turning radius of a running turning circle on a running route on which the vehicle drives from the first rotational information and the second rotational information.

Provided is an apparatus for controlling light distribution using steering information, the apparatus including a steering information detector configured to detect an amount of change of steering information sensed through a steering sensor that senses the steering information, a determiner configured to determine whether the amount of change of the steering information detected through the steering information detector is greater than or equal to a predetermined critical value and determine a direction in which the steering information is changed, and a controller configured to increase or decrease a margin of a shadow zone of a headlamp according to the amount of change of the steering information when the amount of change of the steering information is determined by the determiner to be greater than or equal to the predetermined critical value.

A method for use with a speed control system of a vehicle is provided. The method comprises receiving readings from one or more vehicle sensors to determine the nature of the terrain over which the vehicle is traveling. The method further comprises gathering information relating to one or more parameters of the vehicle that correspond to the configuration of the vehicle. The method still further comprises determining, based on the nature of the terrain and the gathered information, whether the vehicle is appropriately configured to travel over the terrain. A system comprising an electronic control unit configured to perform the method is also provided.

A drive planning processor plans a driving operation plan for a subject vehicle traveling on a route. The drive planning processor sets one or more candidate stop positions for the subject vehicle to make a stop, using determination results for relationships between the subject vehicle and a plurality of events which the subject vehicle encounters in a time-series manner when traveling on a first route. The one or more candidate stop positions are set for respective events. The drive planning processor plans a driving operation plan for a scene which the subject vehicle encounters using determination results for relationships between the subject vehicle and the plurality of events which the subject vehicle encounters at the candidate stop positions.

A vehicle collision avoidance assist apparatus executes a collision avoidance control for avoiding a collision of an own vehicle with an object ahead of the own vehicle. The apparatus determines whether a driver of the own vehicle has a collision self-avoidance probability that the driver can avoid the collision of the own vehicle with the object ahead of the own vehicle by carrying out a driving operation to the own vehicle. When the apparatus determines that the driver does not have the collision self-avoidance probability, the apparatus sets a start timing of starting executing the collision avoidance control to a timing earlier than the start timing set when the apparatus determines that the driver has the collision self-avoidance probability.

A steering control apparatus includes: a command steering angle acceleration detector configured to detect a command steering angle acceleration, in an autonomous driving mode, using a command steering angle inputted from an autonomous driving system; an autonomous driving determiner configured to determine whether to cancel the autonomous driving mode using any one or any combination of any two or more of a column torque of a steering shaft, a vehicle speed of a vehicle, and the command steering angle acceleration; and a steering angle controller configured to control a steering angle, in the autonomous driving mode, by adjusting a gain according to a steering angle error between the command steering angle and a current steering angle, based on an output from the command steering angle acceleration detector.

An HEV-CU determines whether a traveling state requires giving priority to a front and rear driving force control (e.g., whether a vehicle is cornering) on the basis of a traveling state of the vehicle. If the traveling state requires giving priority to the front and rear driving force control (e.g., the vehicle is cornering), the HEV-CU-preferentially controls of an engine and a motor generator as well as engagement force of a differential limiting clutch in accordance with friction force between front and rear wheels and a road surface. If the traveling state does not require giving priority to the front and rear driving force control (e.g., the vehicle is traveling straight), the HEV-CU preferentially controls the driving of the motor generator to cause a charged state (SOC) of a high-voltage battery that supplies electric power to the motor generator to fall within a predetermined range.