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 driving monitoring system monitors a driver of a host vehicle by a vehicle control unit and a portable terminal which communicate with each other. The vehicle control unit controls the host vehicle. The portable terminal includes a display screen and a camera arranged to capture an image of an area opposing the display screen. The driver monitoring system determines whether the driver of the host vehicle looks at the display screen of the portable terminal during running of the host vehicle, based on an image captured by the camera; the driver monitoring system issues a warning in response to that the driver is determined to be looking at the display screen of the portable terminal.

A driving control method comprises: acquiring a destination of a vehicle; referring to a first map that includes identification information of a travel lane and a second map that does not include the identification information of the travel lane; calculating a route from a current position of the vehicle to the destination; when traveling along a first route included in the route and belonging to the first map, setting first driving control, while when traveling along a second route included in the route and belonging to the second map, setting second driving control with a lower level of autonomous driving than that of the first driving control; and creating a driving plan for the vehicle to travel along the route with contents of the set driving control. A driving control apparatus is based on the method.

A vehicle drive assistance system is provided, which includes a control unit configured to perform a drive assistance control based on a balance state between a driver's required driving ability required for driving a vehicle based on a traffic environment around the vehicle and drive assistance which is provided to the driver by the vehicle, and a driver's current driving ability. The control unit includes a processor configured to execute a balance determining module to determine the balance state between the required driving ability and the current driving ability based on a physical quantity related to a driving operation by the driver.

A vehicle control device includes a recognizer that is configured to recognize a surrounding situation of a host vehicle and a driving controller that is configured to control acceleration or deceleration and steering of the host vehicle on the basis of a recognition result of the recognizer. The driving controller is configured to cause the host vehicle to operate in at least any of a first driving state and a second driving state in which a rate of automation is higher or tasks required of an occupant are fewer than in the first driving state, and is configured to transition a driving state of the host vehicle to the first driving state on the basis of movement of a rearward vehicle that travels rearward of the host vehicle recognized by the recognizer in a direction of a vehicle width in a case where the host vehicle is operating in the second driving state.

An autonomous driving system configured to perform an autonomous driving of a vehicle includes a lane change determination unit configured to determine a necessity of an operation intervention for a lane change of the vehicle by a driver of the vehicle during the autonomous driving, a lane change request unit configured to request the driver to perform the operation intervention for the lane change of the vehicle when the lane change determination unit determines that it is necessary to perform the operation intervention for the lane change of the vehicle by the driver, and a mode switching unit configured to switch a steering torque mode for a lane keep control in the autonomous driving from a normal steering torque mode to a weak steering torque mode when the driver is requested to perform the operation intervention for the lane change of the vehicle.

A driving control apparatus for a vehicle includes: one or more external sensors, one or more vehicle sensors, a steering device, an acceleration/deceleration device, an output device, a communication circuit, and a control circuit. The control circuit detects a failure associated with autonomous driving while the vehicle performs the autonomous driving, outputs the warning signal for a transfer of control of the vehicle by using the output device for a first time interval, when the failure is detected, controls the acceleration/deceleration device for a second time interval after the first time interval to reduce a travel speed of the vehicle to a target speed, and controls the steering device and the acceleration/deceleration device after the second time interval to maintain a travel lane of the vehicle with the travel speed lower than the target speed.

The present disclosure provides a method and an apparatus for vehicle control. The method includes: obtaining (101) manual operation information of a vehicle; determining (102) an intervention intention of a driver based on the manual operation information; and controlling (103), when the vehicle is currently in an automated driving mode and the intervention intention is determined to be a slow intervention, the vehicle to reach a predetermined safe state and handing corresponding control of the vehicle over to the driver. The method and apparatus can solve potential safety problems in vehicle control and improve safety of the vehicle control.

A driver performs switching to a manual driving mode in a state that the driver is suitable for a driving operation. In a vehicle that is driven by a plurality of driving modes including a self-driving mode to be performed by a self-driving control unit and a manual driving mode in which a driver performs a part of or all of a driving operation, before the manual driving mode is started, information for presenting a request for operating by the driver from a user interface unit to the driver is output to the user interface unit. The input unit receives a signal based on the operation by the driver. A notification unit notifies a self-driving control unit of a switching signal for instructing switching to the manual driving mode when a difference between a value obtained from the signal based on the operation by the driver, the signal having been input from the input unit and a reference value according to the operation request is within an allowable range.

Provided herein is a method of remotely controlling a vehicle, which includes identifying a vehicle entering an autonomous driving region, identifying autonomous driving authority information including a predetermined user's discretionary control right to the vehicle entering the autonomous driving region, remotely controlling a plurality of electronic elements included in the vehicle such that the vehicle moves along a set path corresponding to the autonomous driving region, and blocking a user's vehicle operation while autonomous driving is performed according to the remote control while allowing user's discretionary control for at least one of the plurality of electronic elements according to the autonomous driving authority information.