A driver assistance system that may rapidly determine cutting out of a preceding vehicle based on lane information obtained from a camera, the driver assistance system includes: a first sensor mounted on a vehicle and configured to acquire front image data; a second sensor selected from a group comprising a radar sensor and a lidar sensor, mounted on the vehicle, and configured to acquire front detection data; and a controller configured to select a preceding vehicle as a target vehicle based on the front image data and the front detection data and control a speed of the vehicle to follow the target vehicle, wherein the controller is configured to: recognize a left land and a right lane of a driving lane based on the front image data, calculate a lateral speed of the preceding vehicle based on the front detection data, when a difference between a length of the left lane and a length of the right lane is greater than or equal to a preset value and the lateral speed of the preceding vehicle is greater than or equal to a preset speed, recognize the preceding vehicle as a cut-out vehicle, and recognize a preceding vehicle of the cut-out vehicle as the target vehicle.

Autonomous vehicles must accommodate various road configurations such as straight roads, curved roads, controlled intersections, uncontrolled intersections, and many others. Autonomous driving systems must make decisions about the speed and distance of traffic and about obstacles including obstacles that obstruct the view of the autonomous vehicle's sensors. For example, at intersections, the autonomous driving system must identify vehicles in the path of the autonomous vehicle or potentially in the path based on a planned path, estimate the distance to those vehicles, and estimate the speeds of those vehicles. Then, based on those and the road configuration and environmental conditions, the autonomous driving system must decide whether it is safe to proceed along the planned path or not, and when it is safe to proceed.

There is provided a traveling control device capable of appropriately performing collision avoidance by using not only a region inside a lane of an own vehicle but also a region outside the lane of the own vehicle. A traveling control device includes an acceleration calculation unit which obtains an acceleration of a target object from information of an outside recognition sensor, a behavior estimation unit which estimates a behavior of the target object from the acceleration, a TTC calculation unit which obtains a time to collision from the information of the outside recognition sensor, a determination unit which determines a risk region based on outputs of the TTC calculation unit and the behavior estimation unit, and a collision avoidance operation control unit which controls a collision avoidance operation for the target object based on a result of the determination unit.

In a driving assistance device for performing a driving assistance process to avoid or mitigate a collision between an own vehicle, which is a vehicle carrying the driving assistance device, and an oncoming vehicle detected within a predefined region ahead of the own vehicle, an entry determiner is configured to determine whether one of the own vehicle and the oncoming vehicle is likely to enter a lane in which the other one is present. An actuation controller is configured to, in response to the entry determiner determining that each one of the own vehicle and the oncoming vehicle is unlikely to enter the lane of the other, restrict actuation of the driving assistance process, and in response to the entry determiner determining that any one of the own vehicle and the oncoming vehicle is likely to enter the lane of the other, not restrict actuation of the driving assistance process.

The present disclosure provides a collision avoidance apparatus including: a first detector configured to detect another vehicle information including a longitudinal velocity and a lateral velocity of another vehicle, and distance information including a longitudinal distance and a lateral distance from another vehicle; a second detector configured to detect subject vehicle information including a velocity and a yaw rate of the subject vehicle; a calculator configured to determine whether steering avoidance is executable, on the basis of the another vehicle information, the subject vehicle information, and the distance information, and when steering avoidance is executable, calculate steering avoidance information on steering avoidance of the subject vehicle; and a control unit configured to control the subject vehicle to travel according to the steering avoidance information. Therefore, it is possible to prevent execution of steering avoidance in a case where steering avoidance is not needed or is inexecutable, and safer steering avoidance can be performed.

Aspects of the disclosure relate to improving realism in simulations for testing software for operating a vehicle in an autonomous driving mode. In one instance, an initial observation of a road user object may be identified in a log data segment captured by a perception system of a vehicle. The perception system having one or more sensors. The initial observation includes a point in time and an initial location of the road user object. A distance traveled by the road user object from a start of the log data segment to the point in time may be determined. A starting location for the road user object may be determined using the distance traveled. A trajectory for the road user object may be determined between the starting location and the initial location of the road user object. The trajectory may be appended to the log data segment.

A system of linearizing a trajectory of an autonomous vehicle about a reference path includes a computing device and a computer-readable storage medium. The computer-readable storage medium includes one or more programming instructions that, when executed, cause the computing device to receive a reference path for an autonomous vehicle, where the reference path defines a proposed trajectory for the autonomous vehicle in a Cartesian reference frame, identify an objective based on the received reference path, where the objective comprises a longitudinal component and a lateral component, project the objective into a curvilinear coordinate frame described by the received reference path, decouple the longitudinal component and the lateral component, linearize the lateral component about the reference path, generate a new reference path for the autonomous vehicle by fusing the linearized longitudinal component and the linearized lateral component, and map the new reference path back to the Cartesian reference frame.

A safe driving control system for vehicles includes one or more processors configured to: recognize a nearby vehicle approaching a host vehicle, and collect information about the nearby vehicle; receive distance information of the nearby vehicle, and determine an extent of collision danger between the host vehicle and the nearby vehicle based on a distance between the host vehicle and the nearby vehicle; and move the host vehicle in a direction in which there are no vehicles therearound based on the extent of collision danger.

A method for reducing a risk of collision with an obscured object. The method includes detecting, by a detector, the object in proximity of the detector, and determining, by the detector, object data of the detected object in response to the detection. The method further includes determining, by the detector, any vehicle in motion in a direction towards an area where the detected object is or may be present, and transmitting, by the detector, the determined object data of the detected object to the vehicle. The method furthermore includes receiving, by the vehicle, the transmitted object data, processing, by the vehicle, the received object data to assess a collision risk based on a predicted route of the vehicle, and mitigating the collision risk, in the vehicle, based on the processed object data when the collision risk has been assessed.

An object detector includes: an optical scanner including: a light source unit configured to emit a light beam; and a light deflector configured to deflect the light beam emitted from the light source unit to scan an object in a detection region with the deflected light beam; a light receiving optical element configured to collect the light beam returned from the object through at least one of reflection or scatter on the object in the detection region in response to scanning with the light beam deflected by the light deflector; and a light receiving element configured to receive the light beam collected by the light receiving optical element, the light receiving element including multiple light receiving pixels arranged in a first direction at different positions on a plane perpendicular to the optical axis.