A vehicle includes a traveling information acquiring device configured to recognize a first vehicle that travels in the same lane as the vehicle and in front of the vehicle, recognize a second vehicle that travels in the same lane as the vehicle and travels in front of the first vehicle and acquire traveling information of the first vehicle and the second vehicle; and a control device configured to control the behavior of the vehicle acceleration or deceleration based on a vehicle speed difference between a vehicle speed of the first vehicle and the vehicle speed of the second vehicle when the second vehicle is recognized during the execution of the follow-up control that controls the vehicle speed of the vehicle and adjusts the distance between the vehicle and the first vehicle.

A safety system for a vehicle may include one or more processors configured to determine, based on a friction prediction model, one or more predictive friction coefficients between the ground and one or more tires of the ground vehicle using first ground condition data and second ground condition data. The first ground condition data represent conditions of the ground at or near the position of the ground vehicle, and the second ground condition data represent conditions of the ground in front of the ground vehicle with respect to a driving direction of the ground vehicle. The one or more processors are further configured to determine driving conditions of the ground vehicle using the determined one or more predictive friction coefficients.

A method includes identifying an object that is invading a lane that an autonomous vehicle is occupying, and generating a constraint about a point of crossing, where the constraint has a direction and a length, and the point of crossing represents a location of where the object and the autonomous vehicle will collide if the object maintains its current trajectory and the autonomous vehicle maintains its current trajectory. The method includes applying the constraint to a motion plan associated with the autonomous vehicle, and issuing one or more commands to adjust movement of the autonomous vehicle in response to encountering the constraint.

A vehicle control apparatus is provided with: a recognizer configured to recognize a surrounding situation of a host vehicle; a controller programmed to perform a deceleration control when a deceleration target is recognized by the recognizer; and a detector configured to detect a slip of the host vehicle. The controller sets a first controlled variable, which is a controlled variable associated with the deceleration control when the slip of the host vehicle is detected without execution of the deceleration control, so as to suppress an extent of deceleration of the host vehicle, in comparison with a second controlled variable, which is the controlled variable when the slip of the host vehicle is not detected without execution of the deceleration control.

Embodiments for operational envelope detection (OED) with situational assessment are disclosed. Embodiments herein relate to an operational envelope detector that is configured to receive, as inputs, information related to sensors of the system and information related to operational design domain (ODD) requirements. The OED then compares the information related to sensors of the system to the information related to the ODD requirements, and identifies whether the system is operating within its ODD or whether a remedial action is appropriate to adjust the ODD requirements based on the current sensor information. Other embodiments are described and/or claimed.

Embodiments for operational envelope detection (OED) with situational assessment are disclosed. Embodiments herein relate to an operational envelope detector that is configured to receive, as inputs, information related to sensors of the system and information related to operational design domain (ODD) requirements. The OED then compares the information related to sensors of the system to the information related to the ODD requirements, and identifies whether the system is operating within its ODD or whether a remedial action is appropriate to adjust the ODD requirements based on the current sensor information. Other embodiments are described and/or claimed.

A method of operating a vehicle, comprises determining, by a computer located in a first vehicle, that an initial distance between the first vehicle and a second vehicle is less than a first distance or a second distance, where the second vehicle is located in a same lane as and in front of the first vehicle; generating, in response to the determining, a sequence of position values and velocity values for the first vehicle, wherein each of the position values and each of the velocity values are associated with a time value; and causing the first vehicle to increase a distance between the first vehicle and the second vehicle by causing the first vehicle to move or operate according to the sequence of position values and velocity values.

An adaptive trust calibration based autonomous vehicle may include vehicle systems, a system behavior controller, and a driving automation controller. The system behavior controller may generate a driving automation signal indicative of a desired autonomous driving adaptation. The driving automation controller may control the vehicle systems based on parameters including a desired velocity, current velocity of the autonomous vehicle, desired minimum gap distance between the autonomous vehicle and a detected object, current gap distance gap between the autonomous vehicle and a detected object, relative velocity of the detected object with respect to the autonomous vehicle, desired time headway, desired maximum acceleration, desired braking deceleration, and an exponent. The driving automation controller may receive the driving automation signal and implement the desired autonomous driving adaptation via the vehicle systems by adjusting the parameters based on a type of object associated with the detected object.

A vehicular control system includes a plurality of sensors disposed at a vehicle and sensing exterior of the vehicle. An electronic control unit (ECU) includes a processor that processes sensor data captured by the sensors. The ECU, responsive at least in part to processing of captured sensor data as the vehicle travels in a traffic lane of a multi-lane road, determines a rearward approaching vehicle rearward of the equipped vehicle that is in an adjacent traffic lane. The ECU determines a leading vehicle ahead of the equipped vehicle and traveling in the same traffic lane as the equipped vehicle. The ECU controls the equipped vehicle to accelerate the vehicle to at least match the speed of the determined rearward approaching vehicle and to maneuver into the adjacent traffic lane to pass the determined leading vehicle ahead of the determined rearward approaching vehicle.

A safety system for a vehicle may include one or more processors configured to determine, based on a friction prediction model, one or more predictive friction coefficients between the ground and one or more tires of the ground vehicle using first ground condition data and second ground condition data. The first ground condition data represent conditions of the ground at or near the position of the ground vehicle, and the second ground condition data represent conditions of the ground in front of the ground vehicle with respect to a driving direction of the ground vehicle. The one or more processors are further configured to determine driving conditions of the ground vehicle using the determined one or more predictive friction coefficients.