A driving support ECU performs an inter-vehicle-distance control and a following-travel steering control. When a front vehicle has been specified as both of a inter-vehicle-distance target vehicle and a following-travel steering target vehicle, and there is a potential cutting-in vehicle which is another vehicle having a possibility of cutting in between an own vehicle and a front vehicle, the driving support ECU newly specifies the potential cutting-in vehicle as the inter-vehicle-distance target vehicle and then, newly specifies the potential cutting-in vehicle as the following-travel steering target vehicle, in the cutting-in period.

A control system for a vehicle includes a camera having a field of view exterior of the vehicle. Responsive at least in part to processing by a processor of image data captured by the camera, the control system determines traffic lanes on the road. The control system determines a leading vehicle ahead of the equipped vehicle and determines a traffic condition where two traffic lanes change to a different number of traffic lanes. The traffic lane being traveled by the equipped vehicle is one of the two traffic lanes that change to the different number of traffic lanes. Responsive to determination of the traffic condition and responsive to detection of the leading vehicle moving from the traffic lane being traveled by the equipped vehicle into another traffic lane, the control system controls the steering system of the equipped vehicle to follow the leading vehicle into the other traffic lane.

A vehicle running control method includes: calculating, by a controller, a lateral velocity of an adjacent vehicle that travels in a lane adjacent to a traveling lane in which an autonomous vehicle travels in the road-width direction, and a longitudinal velocity of the adjacent vehicle in the direction in which the adjacent lane extends; specifying, by the controller, a predetermined road section based on the longitudinal velocity and calculating a first path on the assumption that an offset distance of the adjacent vehicle in the adjacent lane in the road-width direction is maintained within the road section; and applying, by the controller, the lateral velocity to the first path to calculate a second path corresponding to a predicted traveling path of the adjacent vehicle.

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.

A vehicle running control method includes: determining whether a host vehicle in a traveling lane enters the junction section during autonomous traveling; collecting environment information of at least one vehicle adjacent to the host vehicle upon determining that the host vehicle enters the junction section; determining whether the traveling lane and the target lane are congested using the collected environment information; upon determining that the traveling lane and the target lane are congested, estimating a cut-in point of a preceding vehicle and determining a target point of the target lane from the estimated cut-in point; generating a cut-in path to the determined target point and displaying an intention to change lanes; and determining whether a rear approaching vehicle has the intention to yield and performing the lane change according to the result of the determination.

Driver assistance systems and autonomous driving systems have been attractive to researchers in the automotive industry to reduce the number of accidents and to increase driving efficiency. One of the most challenging tasks to safely and effectively automate is changing between traffic lanes. The systems and methods of the present application include applications of the Dynamic Windows Approach algorithm to guide a vehicle through an automated lane change procedure with improved safety and efficiency.

Various implementations described herein generate training instances that each include corresponding training instance input that is based on corresponding sensor data of a corresponding autonomous vehicle, and that include corresponding training instance output that is based on corresponding sensor data of a corresponding additional vehicle, where the corresponding additional vehicle is captured at least in part by the corresponding sensor data of the corresponding autonomous vehicle. Various implementations train a machine learning model based on such training instances. Once trained, the machine learning model can enable processing, using the machine learning model, of sensor data from a given autonomous vehicle to predict one or more properties of a given additional vehicle that is captured at least in part by the sensor data.

A false target removal device and method for vehicles that can determine whether a sensor fusion target is a false target and remove the false target and a vehicle including the device are disclosed. The false target removal device may include a learning unit for receiving sensor fusion measurement information and learning one or more parameters based on the received sensor fusion measurement information, a falseness determination unit for, upon receiving current sensor fusion measurement information, determining whether the current sensor fusion measurement information is false based on the one or more parameters learned by the learning unit, and a sensor fusion target generation unit for removing false target information and generating a sensor fusion target based on the result of the determination by the falseness determination unit.

Provided is a feature such that the opportunity to cancel travel control can be reduced by seamlessly switching between travel modes in combination with a plurality of functions. A travel control device has: a first mode which causes a vehicle to travel according to the control target set on the basis of an object outside the vehicle; and a second mode which causes the vehicle to travel according to the control target set irrespective of an object outside the vehicle. If it is impossible to set the control target on the basis of the object outside the vehicle during traveling in the first mode, the travel mode is shifted to the second mode. If it is possible to set the control target on the basis of the object outside the vehicle during traveling in the second mode, the travel mode is shifted to the first mode.

A driving support ECU performs an inter-vehicle-distance control and a following-travel steering control. When an inter-vehicle-distance target vehicle and a following-travel steering target vehicle are the same specific other vehicle as each other, and there is a potential cutting-in vehicle between an own vehicle and the specific other vehicle, the driving support ECU newly specifies the potential cutting-in vehicle as the inter-vehicle-distance target vehicle at a first time point in a cutting-in period and newly specifies the potential cutting-in vehicle as the following-travel steering target vehicle at a second time point in the cutting-in period.