A method increases fidelity of a lane localization function aboard a motor vehicle by receiving input signals indicative of a relative position of the vehicle with respect to a roadway. The input signals include GPS and geocoded mapping data, and an electronic turn signal indicative of activation of the turn signal lever. Sensor-specific lane probability distributions are calculated via the lane localization function using the input signals. The various distributions are fused via the localization function to generate a host lane assignment. The host lane assignment corresponds to a lane of the roadway having a highest probability among a set of possible lane assignments. An autonomous steering control action is performed aboard the motor vehicle using an Advanced Driver Assistance System (ADAS) in response to the host lane assignment. A motor vehicle has a controller that performs the method, e.g., by executing instructions from computer-readable media.

The autonomous LC control is started in response to receiving a start instruction of autonomous lane change. When the driver performs a steering intervention in a same direction as a direction of steering requested by the autonomous LC control, and establishment of a stop condition of lane change is not recognized, during execution of the autonomous LC control, the autonomous driving control is continued. When the steering intervention in the same direction is performed, and establishment of the stop condition is recognized, during execution of the autonomous LC control, termination of the autonomous driving control is announced.

A merge behavior system assists a host vehicle positioned in a merge lane that is adjacent a mainline lane. The merge behavior system includes an identification module that identifies at least one proximate vehicle in the mainline lane, if present. The merge behavior system also includes a prediction module that selects one or more models based on the at least one proximate vehicle, calculates one or more merge factors corresponding to the one or more models, and predicts a merge location based on the one or more merge factors. The merge behavior system further includes a control module that adjusts a kinematic parameter of the host vehicle to bring the host vehicle within a merging distance of the predicted merge location. The merge behavior system includes a merge module that determines whether a gap at the predicted merge location is a sufficient size for the host vehicle.

Evasive steering assist (ESA) systems and methods for a vehicle utilize a set of vehicle perception systems configured to detect an object in a path of the vehicle, a driver interface configured to receive steering input from a driver of the vehicle via a steering system of the vehicle, a set of steering sensors configured to measure a set of steering parameters, and a controller configured to determine a set of driver-specific threshold values for the set of steering parameters, compare the measured set of steering parameters and the set of driver-specific threshold values to determine whether to engage/enable an ESA feature of the vehicle, and in response to engaging/enabling the ESA feature of the vehicle, command the steering system to assist the driver in avoiding a collision with the detected object.

A driving assistance apparatus includes a surrounding information acquisition device configured to acquire information on a three-dimensional object present in surroundings of a vehicle and a lane marking extending in front of the vehicle as surrounding information, a vehicle speed detection device, and a control unit configured to execute, as a steering assist control, a lane tracing assist control and a lane changing assist control, in which the control unit is configured to determine whether or not a tow condition that is satisfied in a case where a towed vehicle is coupled to the vehicle is satisfied, based on the surrounding information and vehicle speed, and make a lane change time longer in a case where a tow condition is satisfied when a start condition of the lane changing assist control is satisfied than a case where the tow condition is not satisfied.

A system for controlling stop of a vehicle includes a steering angle comparison device that detects a current steering angle of the vehicle and compares the detected current steering angle with a preset limit steering angle when a malfunction of a steering system in the vehicle is detected during autonomous driving, a partial braking induction determination device that determines a position of a tire of the vehicle to be subjected to partial braking for steering control of the vehicle according to a result of the comparing between the current steering angle and the limit steering angle, and a partial braking control device that determines an amount of braking to be applied to each determined tire of the vehicle and applies a braking pressure corresponding to the amount of braking to each tire of the vehicle to perform the steering control by the partial braking.

A moving body control apparatus includes a lane change control section that performs lane change control causing a moving body to perform a lane change from a first lane, in which the moving body is travelling, to a second lane that is adjacent to the first lane, a judging section that judges whether another moving body travelling in the second lane will perform a lane change from the second lane to the first lane, based on vicinity information, and a restriction control section that restricts the lane change of the moving body from the first lane to the second lane when it is judged by the judging section that the other moving body will perform the lane change from the second lane to the first lane.

A method includes, in response to an ignition on signal: determining, using one or more sensors, whether a host vehicle is moving from a first lane to a second lane; determining, using one or more sensors, whether an object is in at least one of a blind zone of the host vehicle and in the second lane within a threshold distance of the host vehicle; in response to a determination that an object is in at least one of the blind zone of the host vehicle and in the second lane within the threshold distance of the host vehicle, performing at least one operator assistance maneuver; and, in response to a determination that an object is not in at least one of the blind zone of the host vehicle and in the second lane within the threshold distance of the vehicle, not performing the at least one operator assistance maneuver.

A control system (1) for letting a vehicle travel by automatic steering is a system which includes a vehicle control part (112) which controls the vehicle so that a subject point set for the vehicle passes through a predetermined route, a subject-point selection processing part (113) which selects a subject point, and a subject-point updating processing part (114) which updates the subject point as a control subject as appropriate by setting the subject point newly selected by the subject-point selection processing part (113) as the control subject, and a highly-versatile system capable of automatic steering irrespective of the type of the vehicle or the shape of the route.

In various examples, a trigger signal may be received that is indicative of a vehicle maneuver to be performed by a vehicle. A recommended vehicle trajectory for the vehicle maneuver may be determined in response to the trigger signal being received. To determine the recommended vehicle trajectory, sensor data may be received that represents a field of view of at least one sensor of the vehicle. A value of a control input and the sensor data may then be applied to a machine learning model(s) and the machine learning model(s) may compute output data that includes vehicle control data that represents the recommended vehicle trajectory for the vehicle through at least a portion of the vehicle maneuver. The vehicle control data may then be sent to a control component of the vehicle to cause the vehicle to be controlled according to the vehicle control data.