A collision avoidance assist apparatus includes: a front-and-lateral target information acquisition device configured to acquire front-and-lateral target information; a vehicle information acquisition device configured to acquire vehicle information including a vehicle speed and at least one of a yaw rate or a steering input value; and a control unit configured to execute collision avoidance assist control when a target satisfies a collision condition that is satisfied when the target is determined to have collision possibility. The control unit selects targets that satisfy a predetermined selection condition from targets in the front-and-lateral target information, determines whether the collision condition is satisfied for each selected target, determines, when this determination is to be made, whether an own vehicle is turning based on the vehicle information, and changes the selection condition between a case in which the own vehicle is not turning and a case in which the own vehicle is turning.

A driving support device includes: an acquisition unit that acquires a lateral position, lateral velocity, and lateral acceleration of another vehicle; a first determination unit that, based on the lateral position and lateral velocity of the other vehicle, determines that the other vehicle is moving toward an own lane; a second determination unit that, when the first determination unit determines the movement of the other vehicle, determines whether the lateral acceleration of the other vehicle has increased to a negative side in the own lane; and a driving support unit that, when the first determination unit determines that the other vehicle is moving toward the own lane and the second determination unit does not determine that the lateral acceleration of the other vehicle has increased to the negative side, does not set the other vehicle as a target vehicle of the driving support.

An example operation includes one or more of determining, by a transport, a potential impact with an object at a location in a lane on a road and, when a distance away from the location exists within the lane, maneuvering, by the transport, the distance within the lane to avoid the potential impact.

The present disclosure provides a method for automatic control of a vehicle and a method for training lane change intention prediction network. The method includes receiving a plurality of types of vehicle traveling information of a target vehicle; inputting the plurality of types of vehicle traveling information of the target vehicle into a lane change intention prediction network, the lane change intention prediction network comprising a plurality of sub-networks; performing, through the sub-networks, feature extraction on the types of vehicle traveling information respectively, and outputting feature extraction results; performing feature fusion on the feature extraction results outputted by the sub-networks, and predicting a lane change intention of the target vehicle according to a feature fusion result; and updating an autonomous driving route of a current vehicle according to the lane change intention of the target vehicle.

Driving control systems and methods include a first vehicle having one or more processors programmed to receive an individual driving behavior model specific to a driver of a second vehicle proximate the first vehicle. The individual driving behavior model is based on historical driving behavior of the driver of the second vehicle. The one or more processors are programmed to identify a motion plan for the first vehicle based on the individual driving behavior model specific to the driver of the second vehicle, and to control movement of the first vehicle according to the identified motion plan.

A vehicle driving assist apparatus acquires a longitudinal distance between an own vehicle and an oncoming vehicle, and a lateral distance between the own vehicle and the oncoming vehicle. The vehicle driving assist apparatus acquires a collision index value which decreases as a ratio of the longitudinal distance to the lateral distance decreases and determine that the own vehicle potentially collides with the oncoming vehicle when a turning condition is satisfied, and a collision condition is satisfied. The turning condition is a condition that the own vehicle turns, crossing an oncoming traffic lane. The collision condition is a condition that the collision index value is within a predetermined index value range. The predetermined index value range at least includes the collision index value acquired when the longitudinal distance is equal to the lateral distance.

A vehicle and an autonomous driving control method therefore may include detecting traffic environment information around a host vehicle, determining traffic flow in a host vehicle lane and a neighboring lane adjacent to the host vehicle lane according to the traffic environment information, and generating a driving strategy based on the traffic flow to control driving of the host vehicle according to the generated driving strategy.

When a subject vehicle arrives at a destination while traveling, or when a driver of the subject vehicle becomes unable to drive during travel or when a failure occurs that interferes with the travel of the subject vehicle during the travel, a control plan for autonomous stop control is generated, the control plan comprising deceleration control for decreasing a speed of the subject vehicle; pulling over control for moving the subject vehicle from a lane in which the subject vehicle travels to the shoulder of the road; and stop control for stopping the subject vehicle at the shoulder of the road, and on a basis of this control plan, the autonomous stop control is performed to decelerate the subject vehicle and then move it to the shoulder of the road by individually and sequentially performing each of the deceleration control, the pulling over control, and the stop control.

A driving control apparatus and method may include collecting driving information related to a subject vehicle, wherein the driving information related to the subject vehicle includes a driving lane and a vehicle width of the subject vehicle, and driving information related to another vehicle, wherein the driving information related to another vehicle includes a driving lane and a vehicle width of at least one another vehicle around the subject vehicle, generating one or more imaginary lines indicating positions in a corresponding driving lane of the another vehicle based on the driving information related to the another vehicle, determining a deflection value by which the subject vehicle needs to be deflected in the driving lane of the subject vehicle based on the imaginary line, and determining a driving path of the subject vehicle based on the determined deflection value.

In order to avoid a collision between a vehicle (1) and other traffic, an on-board system (100) of the vehicle (1) scans for target entities (2) in at least one lane (5, 6) to a side of the vehicle (1) and determines position and state of motion of detected target entities (2). From a state of the vehicle (1) an intention of a driver of the vehicle (1) to move the vehicle (1) into one of the at least one lanes (5, 6) scanned is inferred. If the on-board system (100) detects a risk of collision between a target entity (2) and the vehicle (1), then, if such an intention of the driver is found, the motion of the vehicle (1) is impeded by the system (100), applying brakes (200) of the vehicle (1) and/or reducing a driving torque of the vehicle (1). A speed of the vehicle (1) is monitored and a motion of the vehicle (1) is not impeded if the speed of the vehicle (1) is above a pre-defined threshold.