A vehicle control apparatus selects an oncoming vehicle, based on the object information when the own vehicle turns right or left, sets the selected oncoming vehicle as a control target vehicle, and executes a collision avoidance control of avoiding a collision of an own vehicle with the control target vehicle when a predetermined execution condition is satisfied. The vehicle control apparatus selects at least one oncoming vehicle around the control target vehicle, sets the selected at least one oncoming vehicle as a surrounding vehicle, and changes the predetermined execution condition to a condition which becomes satisfied at a later timing when a first behavior condition that there is a predetermined behavior difference between a behavior of the control target vehicle and a behavior of the surrounding vehicle, is satisfied, compared with when the first behavior condition is not satisfied.

Examples disclosed herein involve a computing system configured to (i) receive sensor data associated with a vehicle's period of operation in an environment including (a) trajectory data associated with the vehicle and (b) at least one of trajectory data associated with one or more agents in the environment or data associated with one or more static objects in the environment, (ii) determine that at least one of (a) the one or more agents or (b) the one or more static objects is relevant to the vehicle, (iii) identify one or more times when there is a change to the one or more agents or the one or more static objects relevant to the vehicle, (iv) designate each identified time as a boundary point that separates the period of operation into one or more scenes, and (v) generate a representation of the one or more scenes based on the designated boundary points.

A map-information obstacle-tracking system and a method thereof are provided. The system is installed in a vehicle. The method includes: using a vehicular dynamic positioning module to acquire a position of a vehicle, and using a map-information module to acquire map-information routes of an area neighboring the position of the vehicle; comparing position of the vehicle with the map-information routes to find out candidate routes in the moving direction of the vehicle; determining one of the candidate routes where said obstacle appears, and predicting a moving trajectory of the obstacle; estimating and outputting a position of the obstacle. The present invention is characterized in using map-information and able to acquire the curvature and slope of the front curved lane. Therefore, the present invention can improve the precision of the obstacle position and stabilizes the accuracy of detecting an obstacle in a curved lane.

The vehicle control device recognizes an object around an own-vehicle and acquires information related to a road shape ahead of the own-vehicle. The vehicle control device detects, when a road shape prompting cut-in to an own-lane is acquired, a monitoring target vehicle likely to be prompted to cut into the own-lane among the recognized objects. The vehicle control device executes an evasive preparation for cut-in of the monitoring target vehicle when the monitoring target vehicle is detected. The vehicle control device executes an evasive action to avoid interference between the monitoring target vehicle and the own-vehicle when a predetermined motion from which cut-in of the monitoring target vehicle to the own-lane is expected is sensed after the evasive preparation is executed.

A collision avoidance control method for a vehicle, through which a collision avoidance control apparatus controls a vehicle to avoid a collision. The collision avoidance control method includes: calculating a TTC (Time To Collision) between the vehicle and a rearward vehicle, when the rearward vehicle approaching the rear of the vehicle is sensed; determining whether the vehicle and the rearward vehicle are likely to collide with each other, by comparing the TTC to a preset reference TTC; and performing a collision avoidance function when it is determined that the vehicle and the rearward vehicle are likely to collide with each other, the collision avoidance function including one or more of a collision risk warning signal output function, a forward acceleration control function and a lane change control function.

Systems and methods for operating a vehicle are disclosed. The methods comprise: generating, by a computing device, a vehicle trajectory for the vehicle while the vehicle is in motion; detecting an object within a given distance from the vehicle; generating at least one possible object trajectory for the object which was detected; performing a collision check to determine whether a collision between the vehicle and the object can be avoided based on the vehicle trajectory and the at least one possible object trajectory; performing a plausibility check to determine whether the collision is plausible based on content of a map, when a determination is made in the collision check that a collision between the vehicle and the object cannot be avoided; and performing operations to selectively cause the vehicle to perform an emergency maneuver based on results of the plausibility check.

Disclosed are a vehicle anti-collision forewarning method, an in-vehicle computer device and a vehicle anti-collision forewarning system.

A computer is programmed to identify a target vehicle to be monitored and to identify first and second virtual boundaries on a roadway based on a position of the target vehicle. The computer is further programmed to determine a first constraint value based on (1) a first boundary approach velocity and (2) a first boundary approach acceleration and a second constraint value based on (1) a second boundary approach velocity and (2) a second boundary approach acceleration. The computer is further programmed to identify a maneuver of the target vehicle based on whether the first and second constraint values violate respective thresholds or a position of the target vehicle relative to the first and second virtual boundaries violates a threshold and to adjust a path of a host vehicle according to the identified maneuver.

Collision avoidance assist apparatus comprises an object information acquiring apparatus for acquiring, as object information, information on a three-dimensional object as well as dividing lines defining a travelling lane in front of a vehicle, and a control unit configured to, when a collision possibility with a three-dimensional object is high, identify this object as a target object. When one of the dividing lines has been detected without any discontinuation in a predetermined region as well as a part of an other dividing line has not been detected therein, if the control unit determines, based on the object information, that a second condition which is satisfied when the target object is positioned on the other dividing line and is moving in a same direction as an extending direction is satisfied and an avoidance route exists, the control unit performs automatic steering control so that the vehicle travels along the avoidance route.

Techniques are described herein for determining one or more actions for an autonomous vehicle to perform, based on simulation of at least one possible scenario. A possible scenario may involve, for example, the autonomous vehicle interacting with an object in the environment. The possible scenario may be simulated by modifying a first internal map containing information about the autonomous vehicle and the environment. As part of the simulation, one or more parameters of the first internal map can be modified in order to, for example, determine the state of the object at a particular point in the future. Based on the modification of the one or more parameters, a second internal map representing a possible scenario is generated from the first internal map. Both the first internal map and the second internal map can be evaluated to decide which action to take.