A trajectory setting device that sets a trajectory of a host vehicle includes a first path generation unit configured to generate a first path by assuming all obstacles around the host vehicle to be stationary obstacles, a second path generation unit configured to generate a second path when the moving obstacle is assumed to move independently, a third path generation unit configured to generate a third path when the moving obstacle is assumed to move while interacting with at least one of the other obstacles or the host vehicle, a reliability calculation unit configured to calculate reliability of the second path and reliability of the third path, and a trajectory setting unit configured to set the trajectory for traveling from the first path, the second path, and the third path based on the reliability of the second path and the reliability of the third path.

A control device includes an electronic control unit executes steering control for avoiding a collision with an object that has a possibility of colliding with a host vehicle. The electronic control unit sets a timing when the host vehicle is predicted to pass the object as an end timing of the steering control when the steering control is performed. The electronic control unit determines whether or not a deviation possibility is present when the electronic control unit assumes that the steering control ends at the end timing. The deviation possibility is a possibility of the host vehicle deviating from a current traveling lane accompanying an end of the steering control. The electronic control unit performs reduction processing that reduces the deviation possibility when the electronic control unit determines that the deviation possibility is present.

An autonomous driving system acquires information concerning a vehicle density in an adjacent lane that is adjacent to a lane on which an own vehicle is traveling, when the own vehicle travels on a road having a plurality of lanes. The autonomous driving system selects the adjacent lane as an own vehicle travel lane, when the vehicle density in the adjacent lane that is calculated from the acquired information is lower than a threshold density that is determined in accordance with relations between the own vehicle and surrounding vehicles. The autonomous driving system performs lane change to the adjacent lane autonomously, or propose lane change to the adjacent lane to a driver, when the adjacent lane is selected as the own vehicle travel lane.

Exemplary embodiments described in this disclosure are generally directed to systems and methods for predicting a behavior of a pedestrian on the basis of a behavioral profile of the pedestrian. The behavioral profile may be generated in a personal communication device of the pedestrian (such as a smartphone) based on activities performed by the pedestrian such as walking on a sidewalk, stepping off the sidewalk to walk on a road, standing on a sidewalk waiting for a traffic light to change, stepping onto the road when waiting for a traffic light to change, and/or crossing a road when the traffic light is red. The behavioral profile may also be based on other factors such as a traffic citation, an accident report, a status of a driver's license, and/or physical characteristics of the pedestrian (age, gender, etc.).

A vehicle control apparatus includes an electric control unit that performs a preceding vehicle trailing control which makes an own vehicle trail a preceding vehicle as an adaptive cruise control, and performs a first brake control which automatically applies a first braking control to the own vehicle when a time-to-collision to a target object is less than a first threshold. In a case where a performing condition for the first brake control has been determined to be satisfied during a performance of the adaptive cruise control, the electric control unit continues performing the adaptive cruise control without performing the first brake control when a deceleration control by the adaptive cruise control is being performed, whereas stops performing the adaptive cruise control when the deceleration control by the adaptive cruise control is not being performed.

A vehicle control system includes an output unit configured to output information to the outside of a vehicle, an in-vehicle status acquisition unit configured to acquire a status inside the vehicle, and a control unit configured to cause the output unit to output information as to whether or not it is possible to ride in the vehicle on the basis of in-vehicle information acquired by the in-vehicle status acquisition unit.

An information presentation apparatus is provided. A light emission device and a HCU are mounted on a vehicle as the information presentation apparatus. The light emission device is arranged on an instrument panel, and displays at least one light emission spot in a linear light emission area arranged to extend in a width direction of the vehicle. The HCU acquires monitoring information including at least position information of the risk target detected by the peripheral monitoring device, and calculates a risk level of the risk target, detected in a traveling direction of the vehicle, based on the monitoring information. When detecting a plurality of the risk targets, the HCU selects one of the risk targets having a highest risk level as a highest risk target, and displays the light emission spot, indicative of a direction of the highest risk target, in the linear light emission area.

A driving assistance apparatus determines, based on an instantaneous indicator which is an instantaneous value of a parameter regarding steering of the own vehicle, whether a driver has started a collision avoidance operation for avoiding a collision between a target and the own vehicle. When it is determined that the collision avoidance operation has been started, a support start timing for starting driving assistance for avoiding the collision or reducing collision damage is set to be a timing later than when the collision avoidance operation has not been started. The support start timing during a collision avoidance time period which is a time period until a predetermined set time has elapsed after it is determined that the collision avoidance operation has been started is set based on a time-dependent indicator for steering indicated by the instantaneous indicator at timings during the collision avoidance time period.

A vehicle control apparatus calculates a position at which a distance between a pedestrian and the own vehicle becomes zero in a travelling direction of the own vehicle as a predicted collision position. The vehicle control apparatus determines whether the pedestrian is crossing a course of the own vehicle. The vehicle control apparatus sets a limit value indicating a width of a determination region in a lateral direction perpendicular to the travelling direction of the own vehicle, and determines whether the pedestrian is present within the course of the own vehicle based on the predicted collision position and the limit value. The vehicle control apparatus sets one of a left and right limit values of a determination region in which the predicted collision position is present in the travelling direction of the own vehicle to be greater than the limit value of the other.

An autonomous driving device is configured to switch a driving mode, and includes a destination setting type autonomous driving mode in which a vehicle is made to travel to a destination and a following road autonomous driving mode in which, when a destination is not set, the vehicle is made to travel along a road. The autonomous driving device includes a display unit and an electronic control unit. The electronic control unit is configured to, when the display unit is made to display a traveling route along a following road traveling route, make the display unit display a traveling route from a current position of the vehicle to a nearest branch road in front in a moving direction along the following road traveling route and a moving direction on the nearest branch road along the following road traveling route.