A driving-rule system (10) suitable to operate an automated includes a vehicle-detector (16) and a controller (20). The vehicle-detector (16) is suitable for use on a host-vehicle (12). The vehicle-detector (16) is used to detect movement of an other-vehicle (14) proximate to the host-vehicle (12). The controller (20) is in communication with the vehicle-detector (16). The controller (20) is configured to operate the host-vehicle (12) in accordance with a driving-rule (22), detect an observed-deviation (24) of the driving-rule (22) by the other-vehicle (14), and modify the driving-rule (22) based on the observed-deviation (24).

A vehicle information projecting system includes: an image-capturing unit capturing an image of a road in front of a vehicle; a display mechanism projecting vehicle information onto a display region set as a portion of a windshield and displaying the vehicle information in the display region so that a virtual image of the vehicle information overlaps the actual landscape from the viewpoint of the vehicle driver; a rear vehicle information acquiring unit acquiring rear vehicle information representing the fact that a rear vehicle is present at the rear of the vehicle; lane change information acquiring units acquiring lane change information representing the fact that the vehicle is changing lanes from a traveling lane to a lane adjacent to the traveling lane; and a processing unit assessing the degree to which attention should be paid to the rear vehicle, based on the rear vehicle information and the lane change information.

A travel control apparatus comprises a first detector configured to detect an obstacle around a subject vehicle traveling in a first lane and a second detector configured to detect a second lane adjacent to the first lane. The travel control apparatus sets a first range at a target position for lane change in the second lane. The first range has a size equal to or larger than a size which the subject vehicle occupies on a road surface. The travel control apparatus detects a range in the second lane as a second range. The range in the second lane is located at a side of the subject vehicle, and the obstacle is absent in the range in the second lane. The travel control apparatus permits the subject vehicle to change lanes when the second range includes the first range.

A travel control method comprises a step of determining, when the second range becomes small after initiating the lane change as compared with the second range before initiating the lane change, at least one of a method of presenting information to a driver of the subject vehicle when discontinuing or continuing the lane change, a control content after discontinuing or continuing the lane change, and a travel position of the subject vehicle in a road width direction on a basis of a positional relationship in the road width direction between a lane mark which the subject vehicle gets across in the lane change and the subject vehicle.

A steering control device includes a driving support ECU. When white line recognition loss, which is a state in which white lines are not properly recognizable, has occurred during execution of an LCA, the driving support ECU calculates a target trajectory for returning a yaw angle to a state immediately before the start of the LCA. The driving support ECU controls a steering angle based on the calculated target trajectory. As a result, a lateral speed of an own vehicle is reduced, and thus sufficient time can be secured for handing over operation of a steering wheel to a driver from a steering assist state.

A travel control method comprises detecting a travel state of the subject vehicle including a position and a speed of the subject vehicle, acquiring obstacle information including a position and a speed of the obstacle, estimating the second range after a predetermined time on the basis of the travel state of the subject vehicle and the obstacle information, and announcing announcement information that the second range will become small to a driver of the subject vehicle when the second range is estimated to become small after the predetermined time.

In a collision prevention system, a control device defines a collision danger level X such that larger values indicate increased possibility of a following vehicle colliding into a host vehicle due to behavior of the host vehicle, and defines a proximity Pr such that larger values indicate shorter inter-vehicle distance or greater relative velocity between the host vehicle and the following vehicle. When a change in amount X/t of the collision danger level X and a threshold value Kxa have a relationship KxaX/t, the control device changes a first threshold value Kpr of the proximity Pr to a second threshold value Kpr lower than the first threshold value Kpr, and actuates a warning device when the collision danger level X and the threshold value Kx have a relationship KxX and the proximity Pr and the second threshold value Kpr have a relationship KprPr.

A vehicle information projecting system includes: an image-capturing unit capturing an image of a road in front of a vehicle; a display mechanism projecting vehicle information onto a display region set as a portion of a windshield and displaying the vehicle information in the display region so that a virtual image of the vehicle information overlaps the actual landscape from the viewpoint of the vehicle driver; a rear vehicle information acquiring unit acquiring rear vehicle information representing the fact that a rear vehicle is present at the rear of the vehicle; lane change information acquiring units acquiring lane change information representing the fact that the vehicle is changing lanes from a traveling lane to a lane adjacent to the traveling lane; and a processing unit assessing the degree to which attention should be paid to the rear vehicle, based on the rear vehicle information and the lane change information.

A travel control apparatus comprises a first detector configured to detect an obstacle around a subject vehicle traveling in a first lane and a second detector configured to detect a second lane adjacent to the first lane. The travel control apparatus sets a first range at a target position for lane change in the second lane. The first range has a size equal to or larger than a size which the subject vehicle occupies on a road surface. The travel control apparatus detects a range in the second lane as a second range. The range in the second lane is located at a side of the subject vehicle, and the obstacle is absent in the range in the second lane. The travel control apparatus permits the subject vehicle to change lanes when the second range includes the first range.

A travel control method comprises detecting a travel state of the subject vehicle including a position and a speed of the subject vehicle, acquiring obstacle information including a position and a speed of the obstacle, estimating the second range after a predetermined time on the basis of the travel state of the subject vehicle and the obstacle information, and announcing announcement information that the second range will become small to a driver of the subject vehicle when the second range is estimated to become small after the predetermined time.