When there is a possibility of collision between a host vehicle and objects positioned in a detection region in front of the host vehicle, an ECU implements collision avoidance control for preventing the host vehicle from colliding with an object. The ECU detects the objects positioned in the detection region and judges whether, among the detected objects, there is an object that the host vehicle has overtaken and that is capable of moving within a prescribed range in the vehicle width direction of the host vehicle. If it is judged that the host vehicle is turning to the left or to the right after it has been judged that the host vehicle has overtaken an object, the actuation timing of the collision avoidance control is advanced.

The invention relates to a method for predicting a future driving situation of a foreign object, in particular a foreign vehicle, participating in road traffic, in which at least one first item of information is sensed which corresponds to at least one sensed first foreign object (3) participating in road traffic, and in which the first foreign object (3) is assigned to an object class on the basis of the first item of information. According to the invention, at least one second item of information is sensed, which corresponds to at least one sensed second foreign object (4) participating in road traffic and situated within the surroundings of the first foreign object (3), wherein the second foreign object (4) is assigned to an object class on the basis of the second item of information, and wherein a future position, a future driving speed and/or a future trajectory of the first foreign object (3) are predicted as future driving situations of the first foreign object (3) on the basis of the object class of the first foreign object (3) on the one hand and the object class of the second foreign object (4) on the other hand.

When a collision avoidance target is a pedestrian or a bicycle, a driving assistance ECU performs automatic braking control. In this case, accelerator override cannot be performed. When the collision avoidance target is an automobile and when an accelerator operation amount is equal to or larger than a first operation amount threshold, the driving assistance ECU prohibits the automatic braking control. In this case, the accelerator override can be performed. When the accelerator operation amount is smaller than the first operation amount threshold, the driving assistance ECU performs the automatic braking control.

The invention provides an automatic braking system and method and a vehicle. The automatic braking method comprises: entering an automatic braking process when a vehicle speed is less than a predetermined speed threshold value and a driver completely releases an accelerator pedal, wherein the automatic braking process comprises: detecting surrounding information by a sensing module; determining a target stop position based on the surrounding information, and determining a braking deceleration based on the target stop position; adjusting a motor and a braking system to slow down a vehicle at the predetermined braking deceleration and to stop the vehicle at the target stop position; and automatically activate an autohold system upon the vehicle stopping at the target stop position. The method and device according to embodiments of the invention can enable completely automatic braking and holding. The method and device according to embodiments of the invention can enable completely automatic braking and holding.

A configuration is provided so that information of detection of vehicles, pedestrians, etc. provided from a roadside device can be used by an automobile that cannot communicate with the roadside device. A warning device is configured to output a warning for an automobile traveling in a predetermined lane at an intersection where a roadside device is installed, the roadside device being configured to transmit information of detection of vehicles, pedestrians, etc., the warning device including a receiving unit configured to receive information of detection of vehicles, pedestrians, etc. transmitted from the roadside device and signal information of a signal lamp for the predetermined lane, and a warning unit configured to output a warning based on the information of detection of vehicles, pedestrians, etc. and the signal information received by the receiving unit.

A driving assistance method includes: detecting a first other vehicle entering an intersection on a first route where a host vehicle is traveling from a second route; predicting whether or not the first other vehicle will stop in the intersection, and predicting a stop position of the first other vehicle; calculating a minimum distance of a first gap between a vehicle body of the first other vehicle and a surrounding object around the first other vehicle or between the vehicle body of the first other vehicle and a road edge of a travel lane of the first other vehicle when the first other vehicle stops at the predicted stop position; and predicting according to the calculated minimum distance whether or not a second other vehicle, which is a following vehicle behind the first other vehicle, may slip through the first gap from behind the first other vehicle.

Methods and devices for controlling operation of a Self-Driving Car (SDC) are disclosed. The method includes, at a first moment in time during an approach of the SDC to a crosswalk: identifying, an object-inclusion zone in proximity to the crosswalk, determining presence of an object in the object-inclusion zone, determining an interval of time for the object based on movement data of the object, using the interval of time and movement data of the SDC for determining operation-control data for controlling operation of the SDC, and assigning decision data to the object-inclusion zone indicative of a decision.

Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode. For instance, that the vehicle is approaching a crosswalk may be determined. A set of segments may be identified for the crosswalk. A set of potential occluded pedestrians may be generated. Each potential occluded pedestrian of the set is assigned a speed characteristic and a segment. The segments of the set of potential occluded pedestrians may be updated over time using the assigned speed characteristics. Sensor data from a perception system of the vehicle is received, and one or more potential occluded pedestrians an having an updated assigned segment corresponding to a segment that is visible to a perception system of the vehicle may be removed from the set of potential occluded pedestrians. After the removing, the set may be used to control the vehicle in the autonomous driving mode.

Techniques and methods for determining regions. For instance, a vehicle may determine a trajectory of the vehicle and a trajectory of an agent, such as a pedestrian. The vehicle may then determine one or more contextual factors. In some examples, the one or more contextual factors are associated with a location of the agent with respect to a crosswalk, a location of the vehicle with respect to the crosswalk, a state of the crosswalk, and/or the like. The vehicle may then determine the region using the trajectory of the vehicle, the trajectory of the agent, and the one or more contextual factors. Additionally, using a time buffer value and a distance buffer value associated with the region, the vehicle may determine whether to yield to the agent within the region.

A control device comprises: a first identification unit for identifying a position of a target located ahead of an advancing direction of a mobile object; a time calculating unit for calculating time for the object to reach the target position; a second identification unit for identifying the target position in a direction intersecting the advancing direction from an image captured by an image capturing unit installed in the object; a determination unit for determining whether a difference between a position of the object and the target position in the intersecting direction is within a predetermined range when the calculated time has become shorter than a predetermined threshold and it is determined the object position in the advancing direction has reached the position identified by the first identification unit; and a report control unit for performing report control when the determination unit determines the difference is within the range.