A navigation system for a host vehicle is provided. The system may comprise at least one processing device comprising circuitry and a memory. The memory includes instructions that when executed by the circuitry cause the at least one processing device to: receive a plurality of images acquired by a camera, the plurality of images being representative of an environment of the host vehicle; analyze the plurality of images to identify a presence in the environment of the host vehicle a navigation rule suspension condition; temporarily suspend at least one navigational rule in response to identification of the navigation rule suspension condition; and cause at least one navigational change of the host vehicle unconstrained by the temporarily suspended at least one navigational rule.

Provided is a preceding vehicle determining device including: a signal acquisition unit configured to acquire a signal from an object detection device; a border setting unit configured to set a border of a lane on which the own vehicle is traveling; a determination area setting unit configured to set a preceding vehicle determination area being an area forward of the own vehicle based on at least one piece of information out of vehicle type information, device type information, detection state information, or preceding vehicle information being information on a vehicle set as a preceding vehicle in previous processing, and based on the border set by the border setting unit; and a preceding vehicle determining unit configured to determine whether the another vehicle is to be set as the preceding vehicle based on a position of the another vehicle with respect to the preceding vehicle determination area.

Provided is a preceding vehicle determining device including: a signal acquisition unit configured to acquire a signal from an object detection device; a border setting unit configured to set a border of a lane on which the own vehicle is traveling; a determination area setting unit configured to set a preceding vehicle determination area being an area forward of the own vehicle based on at least one piece of information out of vehicle type information, device type information, detection state information, or preceding vehicle information being information on a vehicle set as a preceding vehicle in previous processing, and based on the border set by the border setting unit; and a preceding vehicle determining unit configured to determine whether the another vehicle is to be set as the preceding vehicle based on a position of the another vehicle with respect to the preceding vehicle determination area.

Disclosed herein are a cooperative driving method based on driving negotiation and an apparatus for the same. The cooperative driving method is performed by a cooperative driving apparatus for cooperative driving based on driving negotiation, and includes determining whether cooperative driving is possible in consideration of a driving mission of a requesting vehicle that requests cooperative driving with neighboring vehicles, when it is determined that cooperative driving is possible, setting a responding vehicle from which cooperative driving is to be requested among the neighboring vehicles, performing driving negotiation between the requesting vehicle and the responding vehicle based on a driving negotiation protocol, and when the driving negotiation is completed, performing cooperative driving by providing driving guidance information for vehicle control to at least one of the requesting vehicle and the responding vehicle.

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.

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.

An approach to arrange sensors needed for automated driving, especially where semitrailer trucks are operating in an autonomous convoy with one automated or semi-automated truck following another. The sensors are fitted to a location adjacent to or within the exterior rearview mirrors, on each of the left- and right-hand side of the tractor. The sensors provide overlapping fields of view looking forward of the vehicle and to both the left and right hand sides at the same time.

A routine-run-vehicle determination unit (302) determines a route from a departure place to a destination of a following vehicle, and a plurality of routine-run vehicles in charge of a plurality of routine-run areas overlapping the route. For each of the routine-run vehicles determined by the routine-run-vehicle determination unit (302), a route determination unit (303) determines a routine-run route on which the following vehicle and another following vehicle that are going to travel in a routine-run area in charge can follow, and determines a portion of the routine-run route overlapping an adjacent routine-run area as a takeover position at which the following vehicle is taken over to the next routine-run vehicle. A reservation management unit (304) transmits routine-run-vehicle reservation data including identification information of the following vehicle, and the routine-run route and the takeover position determined by the route determination unit (303) to each of the routine-run vehicles that are determined by the routine-run-vehicle determination unit (302).

Systems and methods for implementing one or more autonomous features for autonomous and semi-autonomous control of one or more vehicles are provided. More specifically, image data may be obtained from an image acquisition device and processed utilizing one or more machine learning models to identify, track, and extract one or more features of the image utilized in decision making processes for providing steering angle and/or acceleration/deceleration input to one or more vehicle controllers. In some instances, techniques may be employed such that the autonomous and semi-autonomous control of a vehicle may change between vehicle follow and lane follow modes. In some instances, at least a portion of the machine learning model may be updated based on one or more conditions.

A system for controlling platooning by a following vehicle includes a sensor located in or on the following vehicle configured to detect data corresponding to a shape of a leading vehicle. The system further includes an electronic control unit (ECU) located in or on the following vehicle, coupled to the sensor, and configured to determine an optimal distance from the following vehicle to the leading vehicle based on the shape of the leading vehicle, the optimal distance corresponding to a distance at which drag applied to the following vehicle is reduced based on a pressure wake from the leading vehicle.