A vehicle control system includes: an automated driving controller configured to execute automated driving in which at least one of acceleration/deceleration and steering of a vehicle is automatically controlled; and a mode setter configured to set a mode of the automated driving which is executed by the automated driving controller and to set the mode of automated driving to an exchangeable mode in which an occupant who sits in a driver seat is able to be exchanged when the automated driving is executed in a mode in which an occupant needs to sit in the driver seat of the vehicle and predetermined conditions have been satisfied. Accordingly, it is possible to enable smooth exchange of an occupant during automated driving.

Methods and systems for monitoring use, determining risk, and pricing insurance policies for a vehicle having one or more autonomous or semi-autonomous operation features are provided. According to certain aspects, an identity of a vehicle operator may be determined and a vehicle operator profile and/or operating data regarding autonomous operation features of the vehicle may be received after the vehicle operator opts into a rewards program and agrees to share their data. Autonomous operation and vehicle operator risk levels associated with operation of the autonomous or semi-autonomous vehicle may be determined. Based upon the risk levels and/or comparison thereof, one or more autonomous operation features may be disengaged. A preparedness level of the vehicle operator to assume or reassume control of operating the vehicle is determined prior to disengagement. If satisfactory, an alert is presented to the vehicle operator prior to disengagement of the autonomous operation features.

An autonomous driving control device capable of starting an autonomous driving control without an operation of a driver and reducing a possibility that the driver can not start manual driving. An autonomous driving control is switched to manual driving when a determination section determines that the amount of operation by the driver is equal to or greater than a first threshold, before a predetermined time elapses since the autonomous driving control is automatically started. An autonomous driving control is switched to manual driving when the determination section determines that the amount of operation by the driver is equal to or greater than a second threshold that is greater than the first threshold, after the predetermined time elapses.

A lane centering system for use in a vehicle driving in a lane on a road includes a lane delimiter detection device having a camera with a field of view that encompasses the road ahead of the vehicle. Based on processing of captured image data, a controller determines the positions of left and right lane delimiters on the road. The controller is operable to establish a target path for the vehicle that maintains the longitudinal centerline of the vehicle generally centered between the left lane delimiter and the right lane delimiter. The controller is automatically activated to control steering the vehicle along the target path when the speed of the vehicle is at or above a first speed level. When having activated control of steering, the controller automatically deactivates control of steering when the speed of the vehicle falls to at or below a second speed level.

Multiple trajectories for a vehicle are generated based on a road segment. Sensor data is received from at least one sensor. The vehicle is traveling the road segment in accordance with a first trajectory of the multiple trajectories. A potential collision is predicted between the vehicle and an object based on the sensor data and the first trajectory. A set of constraints is determined to avoid the potential collision. The set of constraints is determined based on the sensor data. A maneuver is determined for the vehicle by superimposing each constraint of the set of constraints on each other constraint of the set of constraints. The maneuver includes a second trajectory independent of the multiple trajectories. Instructions are transmitted to a control circuit of the vehicle to override the first trajectory and traverse the road segment according to the second trajectory to perform the maneuver.

A vehicle control system includes: a recognizer configured to recognize a surrounding situation of an own vehicle; a determiner configured to determine whether a condition for lane changing of the own vehicle from an own lane to an adjacent lane is satisfied based on the surrounding situation recognized by the recognizer; and a traveling controller configured to control steering and a deceleration or acceleration speed of the own vehicle and perform lane-changing control to change the own lane to the adjacent lane when the determiner determines that the condition is satisfied. The lane-changing control is inhibited when a speed of the own vehicle is equal to or less than a predetermined speed.

A vehicle control apparatus including a driving force generation unit, a driving force distribution mechanism distributing a driving force from the driving force generation unit to a front wheel and a rear wheel, and an electronic control unit having a microprocessor and a memory. The microprocessor is configured to perform: determining whether a mode switching instruction from self-drive mode enabling a self-drive function to manual drive mode disabling the self-drive function has been input; and controlling the driving force distribution mechanism so that a driving force distribution rate of rear wheel driving force relative to front wheel driving force is a first distribution rate during driving in the self-drive mode, and thereafter so that the driving force distribution rate is a second distribution rate greater than the first distribution rate when it is determined that the mode switching instruction has been input.

A lane centering system for use in a vehicle driving in a lane on a road includes a camera and a controller. Based on processing by a processor of image data captured by the camera, the controller determines position of a left lane delimiter on the road on a left side of the vehicle and position of a right lane delimiter on the road on a right side of the vehicle. The controller is operable to determine a target path for the vehicle based on processing of image data captured by the camera. The determined target path maintains the longitudinal centerline of the vehicle centered between the left lane delimiter and the right lane delimiter. The lane centering system may be enabled responsive to the vehicle speed exceeding a threshold speed, and may be disabled during a braking event of a collision mitigation system of the vehicle.

A driving takeover apparatus is configured to execute a takeover from an automated driving to a manual driving by a driver in response to, during the automated driving, (i) a current operation amount by the driver to an operation target is within a takeover permissible range set according to a required operation amount to the operation target to generate a takeover control amount, and (ii) a takeover operation device is operated.

Systems and methods for mix mode automated driving including accessing a profile associated with an automated driving trip, determining a list of driving operations for the automated driving trip, and determining at least one recommended driving operation included in the list of operations based on the profile, such that the at least one recommended driving operation includes a first driving operation designated to autonomous control and a second driving operation designated to manual control.