A travel control device for a vehicle, includes: a lane information acquisition unit configured to acquire lane information; a steering control unit configured to control steering of the vehicle by executing lane travel control to make the vehicle travel along the lane; and a vehicle speed control unit configured to control a vehicle speed by executing constant speed travel control in which the vehicle is made to travel at a set vehicle speed and/or adaptive cruise control in which the vehicle is made to travel at a speed equal to or lower than the set vehicle speed so as to follow a preceding vehicle. The vehicle speed control unit is configured to control the vehicle speed during a turn of the vehicle by setting a vehicle speed upper limit value, which is set to different values depending on whether the lane travel control is being executed.

A vehicle control apparatus includes an actuator used for traveling, an output device outputting information, and a microprocessor and a memory coupled to the microprocessor. The microprocessor performs capturing an image ahead of the vehicle, recognizing a traffic sign included in an imaging range of the captured image, controlling at least one of the output device and the actuator based on information of the recognized traffic sign, and determining whether the vehicle is traveling in a restricted section in which a predetermined travel restriction including at least one of a vehicle speed limit and overtaking limit is imposed temporarily. The microprocessor performs the controlling including controlling, when it is determined that the vehicle is traveling in the restricted section, at least one of the output device and the actuator without using the information of the traffic sign even if the traffic sign is recognized.

In a vehicle teleoperation session, a speed limit is determined for which the vehicle can be safely teleoperated. A safety system senses data relating to the vehicle environment and generates a depth map from which obstacles in the vicinity of the vehicle can be identified. Based on the detected obstacles and a motion state of the vehicle, a speed limit is determined at which the teleoperator is predicted to be able to utilize an emergency braking command to avoid a collision. the speed limit may be automatically applied to the vehicle or may be provided to the teleoperator to enable the teleoperator to adjust the vehicle speed.

A CPU drives an inverter based on a command rotation speed that is inputted from a higher level ECU at a predetermined update interval. The CPU acquires an actual rotation speed of the electric motor, and calculates an accelerated rate and a decelerated rate based on the update interval and a difference between the actual rotation speed and the command rotation speed such that the actual rotation speed changes without reaching the command rotation speed and becoming constant before an end of the update interval. The CPU drives the inverter such that the electric motor rotates at the calculated rate.

A method is provided for determining a maximum speed limit for a reversing vehicle combination that includes a towing vehicle and at least one towed trailer. The method includes determining a maneuver that is to be performed by the vehicle combination, simulating the complete maneuver in advance by using a control algorithm and a state space model, thereby obtaining the steering behavior of the vehicle combination during the maneuver, and calculating the maximum speed limit for the vehicle combination during the maneuver by using at least one predefined limiting condition. A maximum speed limit for a reverse assistance function can be estimated in advance, which allows for a faster and more efficient reversing of the vehicle combination, and at the same time allows for an improved comfort for the driver.

Disclosed is a driving assistance apparatus which includes an object information obtaining section for obtaining a piece of information regarding an object present ahead of a vehicle, an operation amount obtaining section for obtaining an accelerator pedal operation amount, and a control section. The control section predicts whether or not the vehicle will collide with the object on the basis of the obtained object information and executes collision avoidance assistance control for decelerating the vehicle at a predetermined demanded deceleration rate in the case where the control section predicts that the vehicle will collide with the object and an execution condition becomes satisfied as a result of the obtained accelerator pedal operation amount having become equal to or greater than a predetermined operation amount. The control section sets the demanded deceleration rate on the basis of the distance and the relative speed obtained when the execution condition becomes satisfied.

Various systems and methods for controlling a vehicle using driving policies are described herein. A system for controlling a vehicle using driving policies includes a memory device; and a processor subsystem to access instructions on the memory device that cause the processor subsystem to: operate a host vehicle using a driving policy from a policy repository, the host vehicle operating in a lane on a first road, the driving policy governed by a safety model; detect a second vehicle, the second vehicle operating in a second lane; determine whether the second vehicle is an oncoming vehicle or an intersecting vehicle, the oncoming vehicle operating on the first road with the first and second lanes in adjacent bidirectional arrangement, and the intersecting vehicle operating on a second road that intersects the first road; and initiate a vehicle maneuver of the host vehicle to reduce or avoid a collision with the second vehicle, based on the safety model, the vehicle maneuver performed based on whether the second vehicle is an oncoming vehicle or an intersecting vehicle.

A control apparatus of a vehicle includes a selection unit configured to select one of a plurality of travel states which have different automation rates from each other, a storage unit configured to store an upper limit travel speed of each of the plurality of travel states, and a changing unit configured to change, based on at least one of an operation by a driver and/or information of the driver, an upper limit travel speed of a travel state which is currently selected by the selection unit. The changing unit changes, in accordance with the change in the upper limit travel speed of the travel state which is currently selected, an upper limit travel speed of a travel state which is not currently selected among the plurality of travel states.

A vehicle speed limiting apparatus includes an opening detection unit to detect an opening of an accelerator pedal of the vehicle; an estimation unit to estimate whether the vehicle starts a lane change; and an ECU to implement an upper-limit setting unit to set an upper-limit speed of the vehicle, a vehicle speed control unit to control the traveling speed so as not to exceed the upper-limit speed even when the opening of the accelerator pedal becomes great enough to make the traveling speed exceed the upper-limit speed, and a permissible speed setting unit to set a permissible speed higher than the upper-limit speed. When the estimation unit estimates that the vehicle starts the lane change, the vehicle speed control unit permits the traveling speed to exceed the upper-limit speed, and controls the traveling speed so as not to exceed the permissible speed.

A driving supporting apparatus comprises an acceleration operation element operated by a driver; and a control unit capable of performing an acceleration limiting control to control the vehicle in such a manner that an acceleration of the vehicle does not exceed a predetermined limiting acceleration. The control unit sets a distance threshold to a value varying depending on a kind of a front target object that is present in front of the vehicle, and performs the acceleration limiting control when a distance condition and an erroneous operation condition are satisfied. The distance condition is a condition that is to be satisfied when a distance between the vehicle and the front target object is equal to or shorter than the distance threshold. The erroneous operation condition is a condition that is to be satisfied when the driver is erroneously operating the acceleration operation element.