Disclosed is a vehicle control device which includes: a surrounding object detection part; a target traveling course calculation part; and a corrected traveling course calculation part, wherein the corrected traveling course calculation part is configured to, when a surrounding object to be avoided is detected, set an upper limit line of a permissible relative speed at which the own vehicle is permitted to travel with respect to the surrounding object, and derive the corrected traveling course, based on the upper limit line, a given evaluation function, and a given limiting condition, and wherein the corrected traveling course calculation part has, as the limiting condition, a region outside the width of the own vehicle whose middle is coincident with an estimated traveling course set on an assumption that the own vehicle travels along a traveling trajectory of the preceding vehicle detected by the surrounding object detection part.

Disclosed is a vehicle control device which includes: a surrounding object detection part; a target traveling course calculation part; and a corrected traveling course calculation part, wherein the corrected traveling course calculation part is configured to, when a surrounding object to be avoided is detected by the surrounding object detection part, set an upper limit line of a permissible relative speed at which the own vehicle is permitted to travel with respect to the surrounding object, and derive the corrected traveling course, based on the upper limit line, a given evaluation function, and a given limiting condition, and wherein the corrected traveling course calculation part has, as the limiting condition, a region outside the width of the own vehicle whose middle is coincident with an estimated traveling course set on the assumption that a current driving state based on the intent of the driver is continued.

Disclosed is a vehicle control device which includes: a surrounding object detection part; a target traveling course calculation part; a corrected traveling course calculation part; and an automatic steering control part to assist in traveling in the lane, wherein: the corrected traveling course calculation part is configured to set an upper limit line of a permissible relative speed with respect to the surrounding object, and derive the corrected traveling course, based on the upper limit line, an evaluation function, and a limiting condition; and the target traveling course calculation part is configured to, when it is determined by the automatic steering control part that there is a possibility of a vehicle deviates from the lane, set the target traveling course at a position offset, with respect to a widthwise middle of the lane, on a side on which there is the possibility of the deviation.

Techniques for determining to modify a trajectory based on an object are discussed herein. A vehicle can determine a drivable area of an environment, capture sensor data representing an object in the environment, and perform a spot check to determine whether or not to modify a trajectory. Such a spot check may include processing to incorporate an actual or predicted extent of the object into the drivable area to modify the drivable area. A distance between a reference trajectory and the object can be determined at discrete points along the reference trajectory, and based on a cost, distance, or intersection associated with the trajectory and the modified area, the vehicle can modify its trajectory. One trajectory modification includes following, which may include varying a longitudinal control of the vehicle, for example, to maintain a relative distance and velocity between the vehicle and the object.

A vehicle control device comprises a processor configured to determine a target merge location where the vehicle is to make a lane change from a merging lane to a main lane, in a merge zone on a scheduled route where the merging lane merges with the main lane, as a location that is before the location at the minimum distance to the end point of the merging lane allowing the driver to whom control of the vehicle has been handed over to operate the vehicle for the lane change, and when the vehicle has not completed the lane change upon reaching the target merge location, give the driver a first notification notifying that control of the vehicle will be switched from automatic control to manual control, by using a notifying unit that notifies the driver of information, or by using a vehicle controlling device that controls operation of the vehicle to perform a predetermined operation of the vehicle.

A vehicle control system includes: a first switch that accepts an operation of an occupant of a vehicle; and a performance part that performs, when the first switch is operated, travel assist in a node in which an assist degree is the largest at that time point.

Controllers, control architectures, systems and methods are described for controlling a host vehicle's participation in a platoon. Described vehicle platooning control systems may include a platoon controller and a vehicle interface controller. The platoon controller is configured to determine torque and braking requests for at least partially automatically controlling the host vehicle to platoon with a platoon partner. The vehicle interface controller manages communications between the platoon controller and one or more host vehicle control units. The vehicle interface controller may also include a safety monitor including one or more safety monitoring algorithms In some embodiments, the vehicle interface controller is at least ASIL-C compliant, whereas the platoon controller and an optional gateway processor may be QM rated under ISO 26262. The platoon controller may be configured as a listener capable of receiving but not transmitting messages on the host vehicle's control related communication bus(es).

An apparatus for controlling an autonomous vehicle, a system including the same, and a method for the same are provided. The apparatus for controlling the autonomous vehicle includes a processor to perform a control operation, to acquire a weight of the autonomous vehicle in real time, and to provide an autonomous driving function based on the weight of the autonomous vehicle, and a storage to store the weight of the autonomous vehicle and information regarding the autonomous driving functions corresponding to the weight of the autonomous vehicle.

Disclosed is a vehicle control system configured to set a speed distribution area defining the distribution of an upper-limit relative speed around a given object, and executes a speed control and/or a steering control of a vehicle so as to prevent a relative speed of the vehicle with respect to the object from exceeding the upper-limit relative speed defined in the speed distribution area, wherein the vehicle control system is configured to estimate the degree of visibility of a driver of the vehicle based on external information (e.g., wiper operating state and light intensity) acquired by an external state detection sensor (e.g., a wiper sensor and a light intensity sensor), and change the distribution of the upper-limit relative speed in the speed distribution area according to the estimated degree of the visibility.

Disclosed is a driving assistance apparatus for a vehicle, including: a communication apparatus configured to perform V2X communication with an external device outside of the vehicle; and a processor which is configured to: acquire information about a set path for the vehicle; receive V2V data from one or more other vehicles through the communication apparatus; based on the information about the set path and the one or more V2V data, select, from among the one or more V2V data, data of interest which is V2V data transmitted by a vehicle of interest which is a other vehicle located on the set path; and set a recommended path for the vehicle based on the data of interest.