A data-driven prediction-based system and method for trajectory planning of autonomous vehicles are disclosed. A particular embodiment includes: generating a first suggested trajectory for an autonomous vehicle; generating predicted resulting trajectories of proximate agents using a prediction module; scoring the first suggested trajectory based on the predicted resulting trajectories of the proximate agents; generating a second suggested trajectory for the autonomous vehicle and generating corresponding predicted resulting trajectories of proximate agents, if the score of the first suggested trajectory is below a minimum acceptable threshold; and outputting a suggested trajectory for the autonomous vehicle wherein the score corresponding to the suggested trajectory is at or above the minimum acceptable threshold.

Systems and methods for a virtually coupled modular transportation system. A first module and a second module, in each for transporting a payload, comprise non-physically coupled vehicle sections. In an embodiment, a controller determines a target orientation between modules. In another embodiment, at least one position detection device determines an actual orientation between modules. A motor in at least one module may receive signals from the controller to position the modules in the target orientation. A plurality of wheels on each module may receive an independent amount of torque to position the modules. In another embodiment, at least one module comprises a rechargeable electric motor.

Provided is a feature such that the opportunity to cancel travel control can be reduced by seamlessly switching between travel modes in combination with a plurality of functions. A travel control device has: a first mode which causes a vehicle to travel according to the control target set on the basis of an object outside the vehicle; and a second mode which causes the vehicle to travel according to the control target set irrespective of an object outside the vehicle. If it is impossible to set the control target on the basis of the object outside the vehicle during traveling in the first mode, the travel mode is shifted to the second mode. If it is possible to set the control target on the basis of the object outside the vehicle during traveling in the second mode, the travel mode is shifted to the first mode.

A data-driven prediction-based system and method for trajectory planning of autonomous vehicles are disclosed. A particular embodiment includes: generating a first suggested trajectory for an autonomous vehicle; generating predicted resulting trajectories of proximate agents using a prediction module; scoring the first suggested trajectory based on the predicted resulting trajectories of the proximate agents; generating a second suggested trajectory for the autonomous vehicle and generating corresponding predicted resulting trajectories of proximate agents, if the score of the first suggested trajectory is below a minimum acceptable threshold; and outputting a suggested trajectory for the autonomous vehicle wherein the score corresponding to the suggested trajectory is at or above the minimum acceptable threshold.

A lane-bias system for a vehicle includes a perception-sensor a steering-device a controller-circuit. The perception-sensor is configured to detect a lane-boundary of a travel-lane traveled by a host-vehicle and detect a distance to an other-vehicle in the travel-lane of the host-vehicle. The steering-device is operable to control a lane-position of the host-vehicle. The controller-circuit is in communication with the perception-sensor and the steering-device. The controller-circuit is configured to operate the steering-device to steer the host-vehicle to an off-center-position within the travel-lane in response to a determination that the distance to the other-vehicle is less than a threshold-distance and/or that the size of the other-vehicle is larger than a threshold-size.

Disclosed is a driving support control device (ECU) (10) capable of controlling a vehicle (1) in accordance with any one selected from plural driving support modes by a driver. The ECU (10) is configured to temporally repeatedly calculate a target traveling course (first to third traveling courses R1 to R3) along which the vehicle (1) should travel, and to, in a preceding vehicle following mode, execute control of causing the vehicle (1) to travel on and along the target traveling course, wherein the ECU (10) is operable, when the target traveling course includes a section having a curvature radius r less than a given curvature radius r.sub.th, to prohibit transition to the preceding vehicle following mode, even if the driver selects the preceding vehicle following mode.

A narrow-passage assistance system is provided for a motor vehicle having at least one electronic control unit, which detects a narrow passage in the form of the presence of two objects that restrict the ego-vehicle on both sides in accordance with signals of various sensors known per se for sensing lateral obstacles and which controls transverse positioning of the ego-vehicle between the two objects by at least one transversely-guiding actuator. The control unit contains a transverse guidance module, which is designed such that the transverse guidance module can distinguish between dynamic and static objects. If a static object is detected on one side of the ego-vehicle and a dynamic object is detected on the other side of the ego-vehicle, transverse positioning of the ego-vehicle closer to the static object is performed if necessary. The transverse guidance module is also designed such that the transverse guidance module distinguishes between soft and hard objects. If a hard object is detected on one side and a soft object is detected on the other side, transverse positioning of the ego-vehicle closer to the soft object is performed.

An automatic parking control device is capable of causing a vehicle to correctly reach the next frame without relying on normal parking route regeneration when a determination is made that the vehicle cannot reach the next frame under automatic parking vehicle control along a section route constituting a part of a parking route. When a determination is made whether the next frame is located on an extension of the current section route and the determination result shows that the next frame is located on the extension, the host vehicle travels further. When the determination is made whether the next frame is located on a remaining section of the current section route and the determination result shows that the next frame is located on the remaining section, the host vehicle decelerates earlier, thereby allowing the host vehicle to reach and come to a stop at the next frame.

A guidance system, for use on an automated vehicle includes a camera, a vehicle-to-vehicle transceiver, and a controller. The camera detects a lane-marking on a roadway and detects a lead-vehicle traveling ahead of a host-vehicle. The vehicle-to-vehicle transceiver receives a future-waypoint from the lead-vehicle, wherein the future-waypoint defines a future-route of the lead-vehicle along the roadway. The controller is in communication with the camera and the vehicle-to-vehicle transceiver. The controller determines a projected-path for the host-vehicle based on the lane-marking. The controller also determines a lead-path of the lead-vehicle based on the camera. The controller steers the host-vehicle according to the lead-path when the lane-marking is not detected and the lead-path corresponds to the projected-path. The controller steers the host-vehicle according to the projected-path while the lane-marking is not detected and the future-waypoint does not correspond to the projected-path.

In a driving support device, an image output unit outputs an image including a vehicle object representing a vehicle and a peripheral situation of the vehicle, to a display unit. An operation signal input unit receives a gesture operation by a user that involves moving of the vehicle object in the image displayed on the display unit. A command output unit outputs a command according to the gesture operation, to an automatic driving control unit that controls automatic driving.