In deceleration set processing, first-class and second-class deceleration are specified. The first-class deceleration is deceleration of the vehicle corresponding to a first-class state. The first-class state is a state of a slowdown target of the vehicle. The second-class deceleration is deceleration of a following moving body corresponding to a second-class state. The second-class state is a state of the vehicle as viewed from the following moving body. If a minimum value of the first-class deceleration (a first-class minimum value) is equal to or greater than a minimum value of the second-class deceleration (a second-class minimum value), target deceleration is set to the first-class minimum value. Otherwise, based on a second-class minimum value phase, the target deceleration is set to deceleration equal to or greater than the second-class minimum value. The second-class minimum value phase is a phase to which the second-class minimum value belongs in a second deceleration feature.

A vehicle control system for providing information to support an overtaking maneuver by a first vehicle, the vehicle control system includes: a processing circuitry adapted to be operatively connected to a traffic view camera and configured to: receive image data of at least one other vehicle in traffic by the traffic view camera; determine, based on the image data of the at least one other vehicle in traffic, overtaking support data indicative of at least one gap in the traffic suitable for an overtaking maneuver; and provide the overtaking support data to the first vehicle for supporting an overtaking maneuver by the first vehicle.

Provided are a device for warning of the distance between vehicles and a control method for warning of the distance between vehicles which can further give a sense of security to an occupant. The device for warning of the distance between vehicles comprises: a preceding vehicle specifying unit which specifies a preceding vehicle that travels in front of a vehicle; and a warning output control unit which, when the preceding vehicle is in a stationary state, outputs a warning of the distance between the vehicles from a warning output unit on the condition that the vehicle is executing adaptive cruise control (ACC).

The disclosure relates to a vehicle velocity control method. The method includes: determining, by an onboard sensor, drivable distances in different directions in front of a current vehicle, and obtaining, at least based on types of targets in the different directions, an area of a drivable space in front of the current vehicle; determining, based on the area of the drivable space and a current vehicle velocity, a result of a safety degree in a current driving scenario; and controlling the vehicle velocity of the current vehicle based on the result of the safety degree. The disclosure further relates to a vehicle control device, a computer storage medium, and a vehicle.

A reactive pedal algorithm is used to modify an accelerator pedal output (APO)-to-torque conversion to produce more deceleration for the same accelerator pedal position. Modifying the APO-to-torque conversion provides the driver of a vehicle the sensation that the vehicle is resisting approaching closer to a lead vehicle. The APO-to-torque conversion is modified based on a scene determination to classify vehicles as in-lane, neighbor-lane, or on-coming. Lane change assist methods and systems are used to modify the APO-to-torque conversion range based on a lead vehicle, a neighbor vehicle, or both.

Embodiments for operational envelope detection (OED) with situational assessment are disclosed. Embodiments herein relate to an operational envelope detector that is configured to receive, as inputs, information related to sensors of the system and information related to operational design domain (ODD) requirements. The OED then compares the information related to sensors of the system to the information related to the ODD requirements, and identifies whether the system is operating within its ODD or whether a remedial action is appropriate to adjust the ODD requirements based on the current sensor information. Other embodiments are described and/or claimed.

Disclosed is an apparatus for assisting driving of a vehicle including a camera installed in the vehicle to have a front field of view of the vehicle and obtain image data, and a controller to process the image data. The controller is configured to identify objects surrounding the vehicle and lanes defining a road on which the vehicle travels based on the processing of the image data, identify a lane in which the vehicle travels based on relative positions of the surrounding objects, and control the vehicle to change the lane based on a distance from the road on which the vehicle is traveling to an additional lane for entering an exit road.

Systems and methods for selecting a trajectory for an autonomous vehicle based on perceived risk are provided. A trajectory is selected that satisfies objective safety constraints and minimizes an overall cost based at least in part on cost components representing the perceived risk of the trajectory. The vehicle is navigated according to the selected (e.g., optimized) trajectory.

Aspects of the disclosure relate to identifying and adjusting speed plans for controlling a vehicle in an autonomous driving mode. In one example, an initial speed plan for controlling speed of the vehicle for a first predetermined period of time corresponding to an amount of time along a route of the vehicle is identified. Data identifying an object and characteristics of that object is received from a perception system of the vehicle. A trajectory for the object that will intersect with the route at an intersection point at particular point in time is predicted using the data. A set of constraints is generated based on at least the trajectory. The speed plan is adjusted in order to satisfy the set of constraints for a second predetermined period of time corresponding to the amount of time. The vehicle is maneuvered in the autonomous driving mode according to the adjusted speed plan.

A first obstacle colliding with the ADV is detected. A minimum deceleration that is required for the ADV to avoid colliding with a second obstacle within a predetermined proximity of a moving direction is determined. A brake command is generated based on the minimum deceleration. Then, the brake command is applied to the ADV, such that the ADV avoids collision with the second obstacle and softens an impact of the collision with the first obstacle.