A computer in a vehicle includes first and second electronic control units (ECUs). The first and second ECUs are programmed to monitor, respectively, a first operating condition and a second operating condition. Each operating condition includes one of path deviation, lane width, user awareness, or steering torque. The second ECU is programmed to monitor the second operating condition according to a protocol with a security measure. The first or second ECU is further programmed to control vehicle operation based on the first or second operating condition.

A vehicle control apparatus that acquires information related to a peripheral state of a vehicle, and that can execute, based on the information, following vehicle control to cause the vehicle to perform automated driving by making the vehicle follow a preceding vehicle traveling in front of the vehicle is provided. The vehicle control apparatus performs detection or prediction, during the vehicle following control, of a movement of the preceding vehicle beyond a predetermined range in a lateral direction, and maintains, in response to the detection or the prediction of the movement of the preceding vehicle in the lateral direction, the vehicle following control in the lateral direction of the vehicle while decreasing an automated driving level of the vehicle and/or requesting a driver of the vehicle to perform a predetermined task.

A vehicle control device includes a control instruction unit (ALC switch) that gives an instruction to perform one of lane change assistance control in which guidance of lane change is provided to a vehicle occupant through a notification unit (HMI) and automated lane change control in which travel control required for movement from a travel lane to a target lane is automatically performed as lane change control performed in the lane change in accordance with vehicle occupant's operation.

A system in a vehicle, comprising one or more cameras configured to obtain facial recognition information based upon facial expressions of an occupant of the vehicle, and a controller in communication with the one or more cameras, wherein the controller is configured to determine the mood of the occupant utilizing at least the facial recognition information, and output an instruction to execute an activation or adjustment of a vehicle driving feature associated with the mood of the occupant.

A traveling control system includes a traveling controller, an operation detector, and an alarm controller. The traveling controller is configured to perform traveling control of a vehicle by selectively executing one mode of: a manual driving mode performing any of steering, acceleration, and deceleration of the vehicle in accordance with operation performed by a driver of the vehicle; the first driving assist mode performing automatic traveling control while requiring the driver to hold the steering wheel; and the second driving assist mode performing the automatic traveling control without requiring the driver to hold the steering wheel. The automatic traveling control includes control of any of the steering, the acceleration, and the deceleration of the vehicle. The operation detector is configured to detect the operation performed by the driver. The alarm controller is configured to control a notification unit of the vehicle, to output any of visual and auditory information.

A system includes an acquisition unit that acquires an operation amount or a duration count, and a switching unit that switches a driving state. The switching unit switches the driving state to the cooperative driving state when the operation amount is equal to or greater than an intervention threshold and less than a start threshold or the duration count is equal to or greater than a first threshold and less than a second threshold during the autonomous driving state, switches the driving state to the autonomous driving state when the operation amount is less than the intervention threshold or the duration count is less than the first threshold during the cooperative driving state, and switches the driving state to the manual driving state when the operation amount is equal to or greater than the start threshold or the duration count is equal to or greater than the second threshold.

A control system of a vehicle determines whether to require a shift from a first travel state in which an operation by a driver is not required to a second travel state in which the operation by the driver is required; makes an operation request to the driver when the shift is required; determines whether the driver has performed an operation in response to the request; and stops the vehicle in a predetermined position when the driver has not performed the operation, wherein in a case in which a lane change operation is required to stop the vehicle in the predetermined position, a speed of travel of the self-vehicle is reduced in accordance with each of a vehicle speed set for a first lane before the lane change operation and a vehicle speed set for a second lane after the lane change operation.

A vehicle control device is equipped with a travel control unit which, in the case that a user-requested driving force exceeds a system-required driving force in a state in which a user is not in contact with an operating element, performs a travel control on the basis of a limited driving force obtained by applying a limit to the user-requested driving force, whereas in the case that the user-requested driving force exceeds the system-required driving force in a state in which the user is in contact with the operating element, performs the travel control on the basis of the user-requested driving force without applying the limit to the user-requested driving force.

An autonomous vehicle operating apparatus is installed in an autonomous vehicle having two autonomous traveling modes of a first autonomous traveling mode for traveling without operation by a driver and a second autonomous traveling mode for traveling in accordance with an operation by the driver. The autonomous vehicle operating apparatus defines an operating section according to traveling conditions and circumferential conditions, and controls the autonomous vehicle in the second autonomous traveling mode to travel in accordance with the operation by the driver during a period in which the autonomous vehicle is located in the operating section.

There is provided a vehicle control system including a driving assistance controller configured to execute driving assistance of a vehicle at a plurality of different degrees, an information output configured to output information, and an output controller configured to control the information output so that information indicating a target to be monitored or operated by an occupant required for the occupant is output on the basis of a change in a degree of driving assistance of the driving assistance controller.