A vehicle control device includes a detector configured to detect a surrounding object of a host vehicle, a generator configured to generate a first target trajectory on the basis of a shape of a traveling path in which the host vehicle travels, a first potential calculator configured to calculate a guiding potential which represents safety of traveling along the first target trajectory, a second potential calculator configured to calculate a surrounding potential which represents safety based on a surrounding object of the host vehicle, a third potential calculator configured to calculate a traveling potential, which represents safety when the host vehicle is moved in a direction intersecting a traveling direction of the host vehicle at each point included in an area in which the host vehicle will be traveling in the future based on the first target trajectory, on the basis of the guiding potential and the surrounding potential, and a traveling controller configured to perform traveling control of the host vehicle on the basis of a second target trajectory obtained by modifying the first target trajectory on the basis of the traveling potential.

A computer-implemented method for controlling a host vehicle having a vehicle control system that controls motion of the host vehicle relative to a preceding vehicle that is immediately ahead of the host vehicle. The method includes determining a relative headway distance and a relative velocity between the host vehicle and the preceding vehicle, and an acceleration rate of the preceding vehicle. The method includes receiving message packets transmitted from a leading vehicle and the message packets contain parameters of the leading vehicle including an acceleration rate of the leading vehicle. Further, the method includes calculating an acceleration control rate for the host vehicle to maintain the headway reference distance between the host vehicle and the preceding vehicle, based on the relative headway distance, the relative velocity, the acceleration rate of the preceding vehicle, and the acceleration rate of the leading vehicle. The acceleration rate is output to a vehicle controller to control motion of the host vehicle.

A method for determining a distance between a camera positioned on a rear portion of a tow vehicle and a trailer coupler supported by a trailer positioned behind the tow vehicle as the tow vehicle approaches the trailer. The method includes identifying the trailer coupler of the trailer within one or more images of a rearward environment of the tow vehicle. The method also includes receiving sensor data from an inertial measurement unit supported by the tow vehicle. The method includes determining a pixel-wise intensity difference between a current received image from the one or more images and a previously received image from the one or more images. The method includes determining the distance based on the identified trailer coupler, the sensor data, and the pixel-wise intensity difference, the distance includes a longitudinal distance, a lateral distance, and a vertical distance.

When there is a possibility of collision between a host vehicle and objects positioned in a detection region in front of the host vehicle, an ECU implements collision avoidance control for preventing the host vehicle from colliding with an object. The ECU detects the objects positioned in the detection region and judges whether, among the detected objects, there is an object that the host vehicle has overtaken and that is capable of moving within a prescribed range in the vehicle width direction of the host vehicle. If it is judged that the host vehicle is turning to the left or to the right after it has been judged that the host vehicle has overtaken an object, the actuation timing of the collision avoidance control is advanced.

A driving assistance apparatus includes a host vehicle information acquisition device configured to acquire host vehicle information including a vehicle speed of a host vehicle and a signal indicating that braking force is applied to the host vehicle by a braking device of the host vehicle, a target information acquisition device configured to acquire target information including a relative position of a target present on the periphery of the host vehicle for the host vehicle, an advancing direction of the target, and a speed of the target, and an electronic control device.

In an automated driving control device (100), a vehicle control device includes a recognition unit (130) that is configured to recognize a peripheral situation of a vehicle and a driving control unit (120, 160) that is configured to automatically perform control of acceleration/deceleration and steering of the vehicle on the basis of the peripheral situation recognized by the recognition unit, in which the recognition unit determines whether or not a traffic participant present in an advancement direction of the vehicle is aware of the presence of the vehicle, and, in a case in which the traffic participant advancing in the same direction as that of the vehicle is recognized in the advancement direction of the vehicle by the recognition unit, and it is determined by the recognition unit that the traffic participant is not aware of the presence of the vehicle, the driving control unit causes the vehicle to run behind the traffic participant and, in a case in which a period of the running behind the traffic participant becomes equal to or longer than a reference, causes the vehicle to run in a predetermined form.

A vehicle control device includes: an acquisitor configured to acquire a situation outside a vehicle; a driving operator configured to execute an operation for manual driving by an occupant of the vehicle; a detector configured to detect a state of the occupant of the vehicle; a manual driving controller configured to execute the manual driving to cause the vehicle to travel based on an operation received by the driving operator; a communicator configured to communicate with a facility outside the vehicle and transmit the situation outside the vehicle acquired by the acquisitor to the facility outside the vehicle; a remotely controlled driving controller configured to execute remotely controlled driving to cause the vehicle to travel based on control information received from the facility outside the vehicle; and a switching controller configured to switch from the remotely controlled driving to the manual driving when the remotely controlled driving is executed by the remotely controlled driving controller and a state of the occupant of the vehicle detected by the detector satisfies a predetermined condition.

A traveling control apparatus performs a target-following control process on a target to be followed detected by a target detecting unit. Further, the traveling control apparatus calculates a probability that the target to be followed is within an own lane, and determines whether a degree of recognition by the target detecting unit of the target to be followed is in a weakly recognized state where the degree of recognition is weaker than a predetermined degree. The apparatus sets a reliability of the target to be followed on the basis of the probability calculated by a probability calculating process and a determination result by a determining process, and controls acceleration of an own vehicle so that a jerk which is a differential value of the acceleration becomes smaller as the reliability of the target to be followed is lower while the target-following control process is performed.

A vehicle for estimating a moving path of an object approaching from behind, and determining a probability for entering a rear lane and a probability of collision is provided. The vehicle includes a speed sensor that detects speed information, a direction sensor that detects driving direction information, and a radar that senses an object approaching the vehicle. A controller then estimates a moving path of an object traveling on a rear lane and approaching the vehicle from behind and determines whether the vehicle is able to enter the rear lane, based on the speed information acquired by the speed sensor, the driving direction information acquired by the direction sensor, and data of the object sensed by the radar. Accordingly, the controller detects a probability of collision with the object approaching the vehicle on the rear lane.

If an external environment recognition unit recognizes another vehicle traveling in a particular section ahead of an own vehicle toward the own vehicle, a prediction unit predicts a position where the other vehicle crosses a first travel path (crossing position PA to PD) on the basis of at least one piece of information regarding an entering position of the other vehicle to the particular section, a travel time of the other vehicle in the particular section, a travel distance of the other vehicle in the particular section, a travel state of the other vehicle, and a position of a ground object on a first travel path side.