A platooning controller, a vehicle system including the same, and a method thereof perform control during platooning. The platooning controller includes a processor that, when an outside vehicle cuts in a platooning line, performs platooning control depending on an intention of a user to perform the platooning control and a driving situation with the cut-in vehicle that cuts in the platooning line. The platooning controller also includes a storage that stores the result of performing the platooning control performed by the processor and information about the driving situation.

A vehicle control device includes an oncoming vehicle detection sensor and a controller that automatically applies brakes to avoid a collision with the oncoming vehicle, under a condition that the own vehicle is at least partially in an opposite lane or a planned path of the own vehicle is at least partially in the opposite lane. The controller sets a virtual area that moves with the oncoming vehicle and that extends in an advancing direction of the oncoming vehicle, and automatically brakes to avoid to avoid a collision. In response to the sensor detecting first and second oncoming vehicles, the controller sets first and second virtual areas, and automatically brakes the own vehicle to prevent coming into contact with the first virtual area and the second virtual area once the own vehicle traverses the opposite lane.

A vehicle control device (ECU) 10 is configured to, when there is an obstacle 3 in a lane 7, execute traveling course correction processing (S15) of setting a speed distribution zone 40 defining a distribution of an allowable upper limit V.sub.lim of a relative speed of the vehicle 1 with respect to the obstacle 3, and calculate a corrected target traveling course Rc by correcting a target traveling course R so as to prevent the relative speed of the vehicle 1 from exceeding the limit V.sub.lim and enable the vehicle 1 to avoid the obstacle 3. The traveling course correction processing includes restriction processing (S27) of calculating the corrected target traveling course (restricted target travel courses Rc1_r through Rc3_r) such that a lateral avoidance distance (L2_r, L3_r) thereof is restricted to be smaller when a border line of the lane 7 is not detected.

The vehicle control device includes a target detection sensor and a control device that controls the operation of actuators. The target detection sensor can detect the relative speed of a target, positioned in a detectable area, with respect to the vehicle but cannot detect the relative speed when the target exists in a short distance area. The control device calculates the change amount of the relative speed per unit time. When the target enters the short-distance region, the control device calculates the estimated relative speed based on the elapsed time from the last acquisition time, which is the time when the relative speed of the target was last acquired from the target detection sensor, to the current time, the last acquired relative speed that is the relative speed of the target at the last acquisition time, and the time rate of change.

The invention relates to an autonomous driving method for a motorized land vehicle, called an ego-vehicle 102, by adaptive speed regulation based on a target speed. The method is suitable for detecting a first target vehicle 104 and for calculating a relevance indicator for the first target vehicle 104, which is configured to characterize a probability of presence of the first target vehicle. Upon detection of a loss of detection of the first target vehicle 104 and if the relevance indicator is greater than a predetermined deselection value, the method calculates an autonomous driving setpoint using the information on the movement of the first vehicle target 104, the target speed and the speed of the ego-vehicle 102.

A vehicle control device includes an oncoming vehicle detection sensor that detects an oncoming vehicle approaching an own vehicle; and a controller configured to automatically apply brakes to the own vehicle to avoid a collision with the oncoming vehicle, detected by the oncoming vehicle detection sensor, under a condition that the own vehicle is at least partially in an opposite lane or a planned path of the own vehicle is at least partially in the opposite lane. The controller is further configured to set, between the own vehicle and the oncoming vehicle, a virtual area that moves with the oncoming vehicle and that extends toward the own vehicle using a rear end of the oncoming vehicle as a base point, and automatically brake the own vehicle to avoid the own vehicle coming into contact with the virtual area to avoid the collision between the own vehicle and the oncoming vehicle.

A vehicle longitudinal speed control testing apparatus includes a first movable target body spaced away from a vehicle executing active speed control while loaded by a dynamometer assembly, and a controller. The controller changes a distance between the first movable target body and the vehicle to cause a speed parameter of the vehicle to follow a desired vehicle speed schedule based on speed parameter feedback from the dynamometer assembly or the vehicle, a sum of a speed of the first movable target body and the speed parameter feedback to follow a desired absolute speed schedule, or the distance between the first movable target body and the vehicle to increase according to a desired distance schedule.

An autonomous driving system acquires information concerning a vehicle density in an adjacent lane that is adjacent to a lane on which an own vehicle is traveling, when the own vehicle travels on a road having a plurality of lanes. The autonomous driving system selects the adjacent lane as an own vehicle travel lane, when the vehicle density in the adjacent lane that is calculated from the acquired information is lower than a threshold density that is determined in accordance with relations between the own vehicle and surrounding vehicles. The autonomous driving system performs lane change to the adjacent lane autonomously, or propose lane change to the adjacent lane to a driver, when the adjacent lane is selected as the own vehicle travel lane.

A vehicle includes a surrounding information detector detecting at least one of a position and a speed of an object around the vehicle including a vehicle ahead and a vehicle behind, a vehicle information sensor detecting at least one of a speed and an acceleration of the vehicle, a brake module generating a braking force to decelerate the vehicle, and a controller configured to determine probabilities of a forward collision and a rear-end collision based on output of the surrounding information detector and the vehicle information sensor, determine target forward and rear collision speeds to minimize a sum of injuries to an occupant by the forward collision and injuries to the occupant by the rear-end collision upon determination that there is the probabilities of the forward collision and the rear-end collision, and control the brake module based on the target forward collision speed and the target rear-end collision speed.

A system and method for mitigating or avoiding risks due to hazards encountered by platooning vehicles. The system and method involve interrogating, with one or more sensors, a space radially extending from a lead vehicle as the lead vehicle travels over the road surface, perceiving the environment within the space, ascertaining a hazard caused by an object in the space, and causing a following vehicle, operating in a platoon with the lead vehicle, to take a preemptive braking action to avoid or mitigate risks resulting from the hazard caused by the object in the space.