Provided are a vehicle control device, a vehicle control method, and a non-transitory storage medium. The vehicle control device includes: an acquisition part, acquiring a positional relationship between a vehicle and a lane; a control part, performing in-lane travel control that causes an actuator included in a steering device of the vehicle to output a force for causing the vehicle to travel in the lane within a range not exceeding an upper limit based on the positional relationship; and an upper limit adjustment part, changing the upper limit in response to an input to an operator that accepts a steering operation performed by an occupant of the vehicle.

A method for providing operating mode transition for a vehicle includes receiving an input indicating a request to transition from a first operating mode of the vehicle to a second operating mode of the vehicle and determining a first planned trajectory corresponding to the first operating mode. The method also includes determining a second planned trajectory corresponding to the second operating mode. The method also includes determining a first road wheel actuator angle corresponding to the first planned trajectory and determining a second road wheel actuator angle corresponding to the second planned trajectory. The method also includes determining a difference between a current handwheel actuator angle and a handwheel actuator angle corresponding to the second road wheel actuator angle and, in response to a determination that the difference is less than a threshold, transitioning from the first operating mode to the second operating mode over a determined period.

A lane departure prevention control apparatus includes a recognizer that recognizes environment ahead of a vehicle and detects left and right lane markers of a lane where the vehicle is traveling based on the environment, a first detector that detects vehicle behavior, a determiner that predicts whether the vehicle will depart from the lane markers based on the lane markers and the vehicle behavior, a setting unit that sets a range for permitting lane departure prevention control from the lane markers, a calculator that transmits a signal corresponding to steering torque for preventing the vehicle departure from the lane markers to a steering controller when the vehicle departs from the lane markers and the vehicle is within the control permission range, and a second detector that detects a shape change in the lane. The unit variably sets the control permission range based on the shape change.

An integrated control apparatus and method for a vehicle are provided. The integrated control apparatus for the vehicle includes: a sensor unit comprising one or more sensing devices provided in the vehicle, wherein each of the one or more sensing devices provides driving environment information by sensing driving environments of the vehicle; an integrated control unit configured to generate one or more control commands for driving control of the vehicle based on one or more pieces of driving condition information of the vehicle received from a network of the vehicle and each driving environment information received from the sensor unit, mediate the generated control commands according to priorities determined based on driving safety of the vehicle and assigned to the respective control commands, and generate a final control command in which output response characteristic of the driving control according to the control command having higher priority is optimized.

A system includes an acquisition unit that acquires an operation amount or a duration count, and a switching unit that switches a driving state. The switching unit switches the driving state to the cooperative driving state when the operation amount is equal to or greater than an intervention threshold and less than a start threshold or the duration count is equal to or greater than a first threshold and less than a second threshold during the autonomous driving state, switches the driving state to the autonomous driving state when the operation amount is less than the intervention threshold or the duration count is less than the first threshold during the cooperative driving state, and switches the driving state to the manual driving state when the operation amount is equal to or greater than the start threshold or the duration count is equal to or greater than the second threshold.

A vehicle control method for controlling a vehicle using a vehicle control apparatus includes: a sensor configured to detect a state outside a subject vehicle; and a control device. The vehicle control method includes: executing control of recovering a travel trajectory of the subject vehicle to a target trajectory, as ordinary control, by giving a steering amount in a lateral direction with respect to a travel lane of the subject vehicle; using detection data of the sensor to determine whether or not another vehicle is traveling in an adjacent lane to the travel lane of the subject vehicle; and when determining that the other vehicle is traveling in the adjacent lane ahead of the subject vehicle, increasing a response of the steering amount to a higher response than that in the ordinary control, before the subject vehicle passes the other vehicle.

A collision avoidance assist apparatus executes an emergency steering control including processes to determine a target steering torque used to change a steering angle to avoid a collision of a vehicle with an obstacle so as not to move the vehicle out of a moving lane when the vehicle has a high probability of colliding with the obstacle, and the moving lane is a straight lane, and applies a steering torque corresponding to the determined target steering torque to a steering mechanism. The collision avoidance assist apparatus stops executing the emergency steering control when determining that the moving lane is a curved lane, based on only one of left and right lane markings at an avoidance side of the obstacle which is the left or the right side of the obstacle which the vehicle passes over while executing the emergency steering control.

A collision avoidance assist apparatus calculates a lane marking recognition reliability level and execute an emergency steering control. The emergency steering control includes processes to determine a target steering torque to avoid a collision of a vehicle with an obstacle when determining that the vehicle has a high probability of colliding with the obstacle, a moving lane defined by the left and right lane markings is a straight lane, and the calculated lane marking recognition reliability level is equal to or higher than a first threshold reliability level, and apply a steering torque corresponding to the target steering torque to a steering mechanism. The collision avoidance assist apparatus stops executing the emergency steering control when the lane marking recognition reliability level becomes lower than a second threshold reliability level set to a value lower than the first threshold reliability level.

A control unit is provided for an ego vehicle equipped with a transverse guidance actuator which is designed to transversely guide the ego vehicle in an at least partly automated manner during a follow-on drive. The control unit is designed to detect a transverse guidance maneuver of the ego vehicle required for the follow-on drive. The control unit is additionally designed to ascertain driver information with respect to the driver of the ego vehicle, the driver information including at least one indication of how engaged the driver is with monitoring and/or carrying out the transverse guidance of the ego vehicle. The control unit is further designed to set a dynamic of an intervention, which is automatically carried out by the transverse guidance actuator of the ego vehicle, for the transverse guidance maneuver on the basis of the ascertained driver information.

A vehicle control apparatus includes an automatic steering control device. The automatic steering control device includes an override determiner, a target steering angle setter, and a target torque setter. The target steering angle setter sets a target steering angle in automatic steering control, based on surrounding information and running condition information. The target torque setter sets a target torque for making the vehicle turn so that a steering angle of the vehicle becomes the target steering angle set by the target steering angle setter. If a steering intention has been detected by the override determiner, during the steering intention being detected, the target steering angle setter sets the steering angle a predetermined length of time before, as the target steering angle.