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 computer in a vehicle is programmed to instruct a steering system of the vehicle to perform a lateral steering action depending on whether a steering-wheel angle is greater than a threshold angle, and to determine and apply an amount of torque to a steering wheel based on comparing the steering-wheel angle to the threshold angle.

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 system for controlling an overtake maneuver of a control vehicle includes a controller. The controller is structured to: receive at least one overtake parameter associated with a control vehicle for overtaking a front vehicle in a vehicle lane; receive an indication of a direction of traffic in an overtake lane that is adjacent to the vehicle lane; receive an indication that the at least one overtake parameter satisfies at least one condition according to the direction of the traffic in the overtake lane; and in response to the at least one overtake parameter satisfying the at least one condition according to the direction of traffic in the overtake lane, execute an overtake maneuver by adjusting at least one parameter of the control vehicle or providing a command to an operator of the control vehicle to execute the overtake maneuver.

A vehicle is capable of performing automated driving including a lane keep control, which is to automatically perform lane keep of a vehicle, and an offset control, which is to automatically offset a travel position of the vehicle in a width direction of the vehicle by increasing a distance from an other vehicle, which travels side-by-side with the vehicle. A control device for the vehicle includes a lane change control unit and an adjusting unit. The lane change control unit is configured to automatically perform lane change. The adjusting unit is configured to, when the lane change control unit performs the lane change during the lane keep control and the offset control, finish the offset control and move the vehicle to a center of a travel lane of the vehicle, and subsequently cause the lane change control unit to perform the lane change.

A system for controlling an overtake maneuver of a control vehicle includes a controller. The controller is structured to: receive at least one overtake parameter associated with a control vehicle for overtaking a front vehicle in a vehicle lane; receive an indication of one or more operating parameters associated with an oncoming vehicle in an overtake lane that is adjacent to the vehicle lane, wherein a direction of traffic of the overtake lane is opposite of the vehicle lane; determine, according to the at least one overtake parameter and the one or more operating parameters, an encounter time between the control vehicle and the oncoming vehicle; and execute, according to the encounter time, an overtake maneuver by adjusting a parameter of the control vehicle or providing a command to an operator of the control vehicle to execute the overtake maneuver.

A straddle type vehicle includes a front detection unit configured to detect an object in front of a self-vehicle, a first determination unit configured to determine whether there is an avoidance space for avoiding contact with the object by turning in a case where there is a possibility of contact of the self-vehicle with the object, and a notification unit configured to give notification of information regarding the avoidance space in a case where the first determination unit determines that there is the avoidance space. The notification unit gives notification of information, as the information regarding the avoidance space, indicating that it is possible to avoid contact with the object by turning in a travel lane in which the self-vehicle is traveling.