A vehicle control system includes a steering operation element configured to receive a steering operation of a vehicle by a driver, a grip detector configured to detect a gripping state of the steering operation element by the driver of the vehicle, and a display processor configured to cause a display device to display a notification image indicating at least the gripping state. The notification image includes a first graphic deformable based on a circle within an entire image area. The display processor causes the display device to display the notification image including the first graphic deformed to expand a location corresponding to a part where the driver is gripping the steering operation element.

An autonomous driving system configured to perform an autonomous driving of a vehicle includes a lane change determination unit configured to determine a necessity of an operation intervention for a lane change of the vehicle by a driver of the vehicle during the autonomous driving, a lane change request unit configured to request the driver to perform the operation intervention for the lane change of the vehicle when the lane change determination unit determines that it is necessary to perform the operation intervention for the lane change of the vehicle by the driver, and a mode switching unit configured to switch a steering torque mode for a lane keep control in the autonomous driving from a normal steering torque mode to a weak steering torque mode when the driver is requested to perform the operation intervention for the lane change of the vehicle.

A method for controlling a vehicle along a trajectory, in which the vehicle has a control device which plans the trajectory within a definable search space of the trajectory and can access actuators of the vehicle in order to control the vehicle , wherein at least one limit value is determined for at least one manipulated variable of an actuator and a search space of the manipulated variable is defined on the basis of the at least one limit value, wherein the search space is used to plan the trajectory.

The present invention provides a local trajectory planning method and apparatus for a smart vehicle, pre-acquiring path planning information from a starting location to a destination; the method comprising: determining a target lane; sampling alternative curves from a current location of the smart vehicle to a target lane according to the path planning information; performing speed planning for the sampled alternative curves according to a current travel environment; selecting one of the alternative curves after the speed planning is performed as a target trajectory. Local trajectory planning of the smart vehicle is achieved through the present invention.

An autonomous vehicle and a system and method of operating the autonomous vehicle. The system includes a sensor and a processor. The processor determines an effective observation area of the sensor, the effective observation area being affected by an extrinsic condition. The processor determines an available time for performing a lane change based on the effective observation area and performs the lane change based on the available time.

A vehicle control device includes a processor. The processor is configured to: detect a mobile body located in a region that is not a host vehicle lane in which a host vehicle is traveling, out of regions that are adjacent to an adjacent lane that is adjacent to the host vehicle lane; detect entry operation of the mobile body to enter the adjacent lane; and when the processor detects the entry operation, perform steering control for the host vehicle such that a travel position of the host vehicle within the host vehicle lane in a width direction of the host vehicle lane is moved in a direction away from the adjacent lane before the entry operation is completed.

An apparatus of assisting lane following by considering a time delay for a front wheel steering angle, in association with parking, and a method for the same are provided. The apparatus obtains surrounding information of a vehicle, determines a target route, based on the obtained surrounding information and a target front wheel steering angle based on the target route, determines a target handle steering angle depending on the target route, based on the target front wheel steering angle, while considering a time delay of a steering system of the vehicle, and performs a lane following assist control operation to follow the target route, based on the target handle steering angle.

A vehicle and an adaptive cruise control system, ACC, is provided. The ACC system includes a control unit configured to control a steering angle of said vehicle in relation to detected road lanes and/or road markings. The ACC system further includes a steering wheel arranged to allow the provision of manual steering input to the steering system of the vehicle and a steering angle sensor. The steering system is configured to identify a steering wheel jerk, performed as a clockwise- and counter-clockwise actuation of the steering wheel within a predetermined time range and to steer the host vehicle from a first, current, road lane to a second road lane based on the identified jerk as indicated by the steering angle sensor.

A system for estimating a trajectory of a vehicle includes vehicle state sensors detecting a state of movement of the vehicle and environment sensors monitoring an environment of the vehicle. A free space module determines a free space corridor based on the detected state of movement of the vehicle and the monitored environment of the vehicle. A goal point determination module determines at least one goal point for the trajectory to be estimated based on the free space corridor. A trajectory planning module estimates a reference trajectory based on the at least one goal point and calculates a deviation between an actual trajectory and the reference trajectory of the vehicle. A trajectory control module minimizes the deviation between the actual trajectory and the reference trajectory of the vehicle and outputs optimal control parameters for the movement of the vehicle based on the minimized deviation.

In a vehicle or a lane change timing determination method, when a distance from a vehicle to a nearby vehicle is outside of a first distance threshold value, lane changing is determined to be permitted. When the distance is within the first distance threshold value, lane changing is determined not to be permitted. After determining lane changing to be not permitted, lane changing not being permitted is switched to lane change being permitted when the nearby vehicle decelerates or accelerates to move further away from the vehicle than a second distance threshold value, even if the distance is still within the first distance threshold value.