A driving system for a first vehicle, comprising one or more sensors configured to obtain proximity data for two or more vehicles proximate the first vehicle, and a processor in communication with the one or more sensors and programmed to classify the two or more proximate vehicles as a cluster in response to a heading angle of the two or more proximate vehicles being within a threshold-angle tolerance and a distance between each of the two or more proximal vehicles being within a threshold-distance tolerance based on the proximity data, to classify each of the two or more proximate vehicles in the cluster as either a trigger vehicle being closest to the first vehicle or a non-trigger vehicle, and activate a driver assistance function in response to a determination that the trigger vehicle is in an estimated-driving path of the first vehicle.

A vehicle-mounted apparatus (10) according to the present invention includes: a surrounding object information acquisition unit (11) that acquires surrounding object information relating to a surrounding object being an object detected in surroundings of a vehicle; a line-of-sight information acquisition unit (12) that acquires line-of-sight information of a driver of the vehicle; an operation information acquisition unit (13) that acquires operation information indicating an operation performed by the driver on the vehicle; an operation intention information generation unit (14) that generates operation intention information associating an operation indicated by the operation information with the surrounding object causing the operation indicated by the operation information, based on the surrounding object information, the line-of-sight information, and the operation information; and a transmission and reception unit (15) that transmits the operation intention information to a surrounding vehicle.

A driving assist ECU determines that a current situation is a specific situation where it is predicted that there is no object that is about to enter an adjacent lane from an area outside of a host vehicle road on which a host vehicle is traveling, when a road-side object is detected at a part around an edge of the adjacent lane, and/or when a white line painted to define the adjacent lane is detected at the part around the edge of the adjacent lane and no object near the detected white line is detected. The driving assist ECU does not perform a steering control for avoiding a collision, the steering control for letting the vehicle enter the adjacent lane, when it is not determined that the current situation is the specific situation.

A computer apparatus, that receive, at an autonomous vehicle, information at least indicative of at least a velocity, a position and at least a portion of a current trajectory of at least one other autonomous vehicle; determine if a collision between the autonomous vehicle and at least one of the at least one other autonomous vehicle will occur, based, at least in part, on the received information and, at least, a velocity, a position and at least a portion of a current trajectory of the autonomous vehicle; and if it is determined that the collision will occur, amend a costmap of the autonomous vehicle based, at least in part, on relative positioning and/or trajectories of the autonomous vehicle and the at least one other autonomous vehicle to manipulate cost in the costmap in and/or around an area of a predicted collision zone.

An autonomous vehicle is configured to estimate a change in direction of a vehicle that is on a roadway and is proximate to the autonomous vehicle. The autonomous vehicle has a mechanical system, one or more sensors that generate one or more sensor signals, and a computing system in communication with the mechanical system and the one or more sensors. The autonomous vehicle is configured to detect an imminent lane change by another vehicle based on at least one of a computed angle between a wheel of the other vehicle and a longitudinal direction of travel of the other vehicle, a degree of misalignment between the wheel of the other vehicle and a body of the other vehicle, and/or an eccentricity of the wheel of the other vehicle. The mechanical system of the autonomous vehicle is controlled by the computing system based upon the detected imminent lane change.

A vehicle control device includes a control unit, which is a control unit that determines, on the basis of the positions of a plurality of other vehicles, whether or not the position of a host vehicle lane is being correctly detected by a detection unit, and controls the host vehicle by determining that the position of the host vehicle lane is being correctly detected by the detection unit, on the basis of another vehicle existing among the plurality of other vehicles, for which a first distance, which is a distance in a lane widthwise direction between the position of the host vehicle lane and a position corresponding to the position of the other vehicle, is less than a threshold value.

A cruise control device 10 includes a cutting-in/deviation determination unit 12 for performing cutting-in determination and deviation determination of another vehicle. The cutting-in/deviation determination unit 12 calculates a lateral position that is a position in a vehicle width direction of a forward vehicle 51 traveling ahead of an own vehicle 50, and determines the forward vehicle 51 traveling on an adjacent lane 64 to be a cutting-in vehicle into an own lane 63 and determines the forward vehicle 51 traveling on the own lane 63 to be a deviating vehicle from the own lane 63 on the basis of the calculated lateral position. The cutting-in/deviation determination unit 12 determines whether or not the own vehicle 50 is in a predetermined own vehicle turning state that is either one of a state before starting a turn or a state of turning, and determines permission of performing of cutting-in determination and deviation determination of the other vehicle on the basis of the determination result.

A vehicle control system includes a virtual line setter configured to set virtual lines in front of a gate on the basis of the position of the gate, and a gate passing controller configured to perform vehicle control when a vehicle passes through the gate on the basis of the virtual lines set by the virtual line setter.

A vehicle control system includes: a gate selector configured to select a gate to be merged associated with a path to be merged after passage of the gate among a plurality of gates in accordance with a merging status between vehicles after passage of the gate; and a gate passage controller configured to control a subject vehicle such that the subject vehicle passes through the gate selected by the gate selector.

An advanced driving assistance system (ADAS) provides collision avoidance control for a host vehicle. The system can include one or more sensors mounted to the host vehicle and configured to sense a driving lane in which the host vehicle is traveling and to sense an external vehicle partially engaged in the driving lane. A controller controls steering, braking, or acceleration of the host vehicle on the basis of sensing information received from the sensor. The controller determines the external vehicle partially engaged in the driving lane as a target vehicle having at least a part thereof overlapping with a lane mark of the driving lane, and performs longitudinal braking or acceleration control or lateral steering control on the host vehicle based on lateral and longitudinal positional relationships between the host vehicle and the target vehicle.