A vehicle running control method includes: when a junction section lane is present adjacent to a traveling lane of a host vehicle, collecting, by a processor, vehicle information of at least one vehicle traveling in the junction section lane; determining, by the processor, the possibility of cut-in of junction section lane vehicles based on the collected vehicle information and whether the traveling lane is congested; and controlling, by the processor, at least one of the traveling path or the traveling velocity of the host vehicle based on the result of determination in order to display an intention to yield.

A following target identification system is used for identifying a following target of a moving object configured to move autonomously. The following target identification system includes: a portable information generation terminal having a wireless communication function and configured to generate following target information about a movement of the following target in a state where the information generation terminal is carried by the following target; a communication unit included in the moving object and configured to receive the following target information sent from the information generation terminal via wireless communication with the information generation terminal; and a following control unit included in the moving object and configured to determine a position of the following target based on the following target information.

A system for controlling an internal combustion engine start threshold in a parallel hybrid-electric vehicle. A predetermined conditions tracking module determines whether or not conditions of a plurality of predetermined conditions exist. Responsive to a determination that the conditions exist, a required power estimation module estimates a next acceleration required by the vehicle and a final power requirement for the next acceleration. A propulsion system control module determines if the estimated final power requirement is between a first amount of electric motor power available at a predetermined base engine start threshold and a second amount of electric motor power available at a predetermined elevated engine start threshold. If the estimated final power requirement is between the first and second amounts of power, operation of the vehicle is controlled so as to ensure that the engine start threshold is at the predetermined elevated threshold.

An autonomous vehicle can obtain sensor data. Upon determining that the autonomous vehicle is in a lane adjacent a shoulder, and there is an object in the shoulder, the autonomous vehicle can determine if performing a lane change maneuver out of the lane prior to the autonomous vehicle being positioned adjacent to the object is feasible. If it is, the lane change maneuver can be performed. If it is not, a nudge maneuver and/or a deceleration can be performed.

A drive assist apparatus according to the present disclosure includes: a dynamic information acquisition unit acquiring, as dynamic information, at least one of subject vehicle dynamic information, the other vehicle dynamic information, and obstacle dynamic information from each of a plurality of vehicles; a map data acquisition unit acquiring map data including a shape of a traffic lane; a dynamic information management unit associating the dynamic information and the map data with each other and managing them; an interference prediction unit predicting whether or not the subject vehicle interferes with the other vehicle traveling in front of the subject vehicle along a traffic lane adjacent to a traffic lane along which the subject vehicle travels when the other vehicle avoids the obstacle based on the dynamic information and the map data; and a drive assist information generation unit generating drive assist information based on the predicted result.

For a vehicle on a lane, a vehicle control apparatus obtains road information, calculates a dead-angle zone on an another lane based on the road information and the position of the own vehicle, and then decides to start a lane-changing feasibility determination, based on the position of the own vehicle and the position of an imaginary vehicle imagined at a position that is within the dead-angle zone. In the case where it is decided to start the lane-changing feasibility determination, the vehicle control apparatus determines whether or not lane changing is feasible, based on the position and the speed of the own vehicle and the position and the speed of another vehicle; in the case where it is determined that the lane changing is feasible, the vehicle control apparatus makes the own vehicle perform lane changing to said another lane.

A travel assistance method for performing a lane change of a host vehicle includes: detecting an oncoming vehicle traveling in an opposite lane from which the host vehicle travels when the host vehicle starts the lane change; determining a crossing point between a virtual advancing route and a linear advancing route in which the oncoming vehicle advances linearly, the virtual advancing route being a virtual extension of an advancing route of the host vehicle during a period from start to end of the lane change; executing a lane change using the route and the vehicle speed in a case where a time difference between a first predicted time and a second predicted time is outside a predetermined range; and when within the predetermined range, executing a lane change by changing at least one of the route and the vehicle speed such that the time difference is outside the predetermined range.

An autonomous driving system includes: at least one sensor (1) configured to collect environment information around a vehicle; a primary decision unit (21) configured to calculate decision information based on the environment information collected by the at least one sensor (1), and transmit the decision information to a controller (3); an alternative decision unit (22) configured to calculate decision information based on the environment information collected by the at least one sensor (1) in response to detecting that the primary decision unit (21) is abnormal, and transmit the decision information to the controller (3); and the controller (3) configured to calculate vehicle control information based on the received decision information, and transmit the vehicle control information to a bottom vehicle controller. In this way, the stability and reliability of the autonomous driving system can be improved and safety of autonomous driving of the vehicle can be guaranteed.

A method and apparatus for controlling a vehicle is disclosed. The method may include: determining center points of at least two frames of point clouds collected for an identified obstacle during travelling of the vehicle; performing curve fitting based on the determined center points to obtain a fitted curve; determining a moving velocity of the obstacle based on the fitted curve; predicting whether the vehicle is to be collided with the obstacle when the vehicle continues travelling at a current velocity, based on the moving velocity of the obstacle, the traveling velocity of the vehicle, and a distance between the obstacle and the vehicle; and sending control information to the vehicle, in response to predicting that the vehicle is to be collided with the obstacle when the vehicle continues travelling at the current velocity, the control information being used to control the vehicle to avoid collision with the obstacle.

The present invention improves the accuracy of predicting rarely occurring behavior of moving bodies, without reducing the accuracy of predicting commonly occurring behavior of moving bodies. A vehicle 101 is provided with a moving body behavior prediction device 10. The moving body behavior prediction device 10 is provided with a first behavior prediction unit 203 and a second behavior prediction unit 207. The first behavior prediction unit 203 learns first predicted behavior 204 so as to minimize the error between behavior prediction results for moving bodies and behavior recognition results for the moving bodies after a prediction time has elapsed. The second behavior prediction unit 207 learns future second predicted behavior 208 of the moving bodies around the vehicle 101 so that the vehicle 101 does not drive in an unsafe manner.