Systems and methods are provided for vehicle navigation. In one implementation, a processing device may be configured to obtain a planned driving action for accomplishing a navigational goal of a host vehicle; receive sensor data from an environment surrounding the host vehicle; identify a target vehicle moving in the environment and a velocity of the target vehicle; calculate a stopping distance and a predicted trajectory for the target vehicle; calculate a planned trajectory for the host vehicle corresponding to the planned driving action; identify an intersection of the planned trajectory for the host vehicle with the predicted trajectory for the target vehicle; determine a braking action of the host vehicle to comply with a safety requirement; and cause the braking action to be applied to decelerate the host vehicle to change the planned trajectory, until the changed trajectory does not intersect the predicted trajectory of the target vehicle.

An apparatus for controlling a behavior of an autonomous vehicle includes: a joystick that inputs an adjustment value corresponding to an amount of manipulation by a user, and a controller to control the behavior of the autonomous vehicle based on the adjustment value corresponding to the amount of manipulation being input from the joystick.

A method of operating an autonomous vehicle includes detecting, based on an input received from a sensor of an autonomous vehicle that is being navigated by an on-board computer system, an occurrence of a driving event, making a determination by the on-board computer system, upon the detecting the occurrence of the driving event, whether or how to alter the path planned by the on-board computer system according to a set of rules, and performing further navigation of the autonomous vehicle based on the determination until the driving event is resolved. The driving event may include a presence of an object in a shoulder area of the road. The driving event may include accumulation of more than a certain number of vehicles behind the autonomous vehicle. The driving event may include a slow vehicle ahead of the autonomous vehicle. The driving event may include a do-not-change-lane zone is within a threshold.

A collision avoidance method for a vehicle includes monitoring a lateral distance between the vehicle and a target vehicle while the vehicle is travelling within a first lane and the target vehicle is travelling within an adjacent second lane, activating a warning on the vehicle and automatically adjusting operation of the vehicle to increase the distance between the vehicle and the target vehicle when the lateral distance between the vehicle and the target vehicle is less than the threshold distance while the vehicle is travelling within the first lane. Automatically adjusting operation of the vehicle may include one or both of steering the vehicle laterally away from the target vehicle and adjusting a longitudinal velocity of the vehicle. A related collision avoidance system is also provided.

A controller detects partitioning lines OL and BL of a road and a road edge E based on an image taken by a camera, generates a pair of left and right virtual lines IL.sub.L and IL.sub.R that extend from the side to the front of a vehicle along the partitioning lines OL and BL, controls the steering so the vehicle travels between the left and right virtual lines IL.sub.L and IL.sub.R, moves the left virtual line IL.sub.L to a position in proximity to the road edge E and fixes the left virtual line IL.sub.L to this position, and then, moves the right virtual line IL.sub.R to a position separated from the left virtual line IL.sub.L by the width of the vehicle and fixes the right virtual line IL.sub.R to this position, and controls brakes to stop the vehicle after fixing the left and right virtual lines IL.sub.L and IL.sub.R.

Systems and methods are provided for vehicle navigation. In one implementation, a system may comprise an interface to obtain sensing data of an environment of the host vehicle. A processing device may be configured to determine a planned navigational action for the host vehicle; identify a target vehicle in the environment of the host vehicle; predict a following distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken; determine a host vehicle braking distance based on a braking capability, acceleration capability, and speed of the host vehicle; determine a target vehicle braking distance, based on a speed and maximum braking capability of the target vehicle; and implement the planned navigational action when the predicted following distance is greater than a minimum safe longitudinal distance based on the determined host vehicle braking distance and the determined target vehicle braking distance.

A driving support device performs steering control and deceleration control for avoiding an object which is detected in front of a host vehicle. The driving support device performs: calculating a target lateral distance which is a target of the steering control and which is a lateral distance between the host vehicle and the object when the host vehicle passes by the object; and increasing target deceleration which is a target of the deceleration control and which is deceleration of the host vehicle when the host vehicle passes by the object as a lateral distance restraint value which is obtained by subtracting the target lateral distance from a threshold value increases when the target lateral distance is less than the threshold value.

The present embodiments relate to selection and execution of one or more output actions relating to a modification of at least one feature of a vehicle. A series of sensors on a vehicle can acquire data that can be used to identify vehicle environment characteristics indicative of a status of a vehicle environment and an emotional state of the user. The vehicle environment characteristics and the emotional state can be processed using a user model that corresponds to a user to generate one or more selected output actions. The output actions can be executed on the vehicle to increase user experience. The output actions can relate to any of entertainment features, safety features, and/or comfort features of the vehicle.

A driving assistance method includes: detecting a first other vehicle entering an intersection on a first route where a host vehicle is traveling from a second route; predicting whether or not the first other vehicle will stop in the intersection, and predicting a stop position of the first other vehicle; calculating a minimum distance of a first gap between a vehicle body of the first other vehicle and a surrounding object around the first other vehicle or between the vehicle body of the first other vehicle and a road edge of a travel lane of the first other vehicle when the first other vehicle stops at the predicted stop position; and predicting according to the calculated minimum distance whether or not a second other vehicle, which is a following vehicle behind the first other vehicle, may slip through the first gap from behind the first other vehicle.

A vehicle acquires position information of the obstacle, identifies a collision point that may collide with the obstacle based on the acquired position information of the obstacle, controls one of steering and braking based on the position information of the identified collision point, and when controlling the steering, acquires a collision avoidance margin distance value corresponding to the position information of the identified collision point, predicts the collision position based on the position information of the obstacle and the information detected by the velocity detector, acquires a distance value between the predicted collision position and the current position, acquires a lateral movement distance value based on the acquired distance value and a preset turning radius of the vehicle, acquires a steering angle based on the acquired lateral movement distance value and the acquired collision avoidance margin distance value and controls steering based on the acquired steering angle.