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 driving support control device 10 is configured to temporally repeatedly calculate a target traveling course (R1 to R3) along which the vehicle 1 should travel, and to, in a given one (preceding vehicle following mode) of the driving support modes, execute control of causing the vehicle 1 to travel on and along the target traveling course, wherein the driving support control device 10 is operable, in a situation where a current position of the vehicle 1 deviates beyond a given distance d.sub.th laterally from the target traveling course, to, even when the driver selects the given driving support mode, prohibit transition to the given driving support mode.

A vehicle driver assist system includes a housing having a main body portion and a viewing window in the main body portion. A camera is provided in the main body portion and has a field of view through the viewing window. A glare reduction portion is adjacent the camera. The glare reduction portion has a textured surface for attenuating light reflection off of the glare reduction portion and into the camera.

A driving assistance device includes an electronic control unit. when a recognition situation of a division line of a traveling lane along which a vehicle is traveling is a near-side recognizable situation in which a forward and far division line of the vehicle is not recognized and a forward and near division line of the vehicle is recognized, the electronic control unit performs lane trace control set, to a target traveling line, a corrected traveling trajectory in which at least one of i) a position of a near target traveling line constituted by a central position of the traveling lane determined based on the recognizable forward and near division line or a position located within a predetermined lateral distance from the central position in a lane-width direction and ii) a tangential direction of the near target traveling line is applied to the traveling trajectory to correct the traveling trajectory.

The technology relates to assisting large self-driving vehicles, such as cargo vehicles, as they maneuver towards and/or park at a destination facility. This may include a given vehicle transitioning between different autonomous driving modes. Such a vehicles may be permitted to drive in a fully autonomous mode on certain roadways for the majority of a trip, but may need to change to a partially autonomous mode on other roadways or when entering or leaving a destination facility such as a warehouse, depot or service center. Large vehicles such as cargo truck may have limited room to maneuver in and park at the destination, which may also prevent operation in a fully autonomous mode. Here, information from the destination facility and/or a remote assistance service can be employed to aid in real-time semi-autonomous maneuvering.

The technology relates to assisting large self-driving vehicles, such as cargo vehicles, as they maneuver towards and/or park at a destination facility. This may include a given vehicle transitioning between different autonomous driving modes. Such a vehicles may be permitted to drive in a fully autonomous mode on certain roadways for the majority of a trip, but may need to change to a partially autonomous mode on other roadways or when entering or leaving a destination facility such as a warehouse, depot or service center. Large vehicles such as cargo truck may have limited room to maneuver in and park at the destination, which may also prevent operation in a fully autonomous mode. Here, information from the destination facility and/or a remote assistance service can be employed to aid in real-time semi-autonomous maneuvering.

A method and apparatus is provided for controlling the operation of an autonomous vehicle. According to one aspect, the autonomous vehicle may track the trajectories of other vehicles on a road. Based on the other vehicle's trajectories, the autonomous vehicle may generate a pool of combined trajectories. Subsequently, the autonomous vehicle may select one of the combined trajectories as a representative trajectory. The representative trajectory may be used to change at least one of the speed or direction of the autonomous vehicle.

In a target track generation apparatus, a subject vehicle reference preceding vehicle position calculator calculates a point group of subject vehicle reference preceding vehicle positions representing a history of a relative position of a preceding vehicle in a coordinate system using a current position of a subject vehicle as a reference. A target track generator generates a target track of the subject vehicle, based on the point group of the subject vehicle reference preceding vehicle positions. A correction target track generator generates a correction target track obtained by correcting the target track, based on the point group of the subject vehicle reference preceding vehicle positions or the target track, when it is determined that correction of the target track is necessary.

The invention relates to a method for guiding a vehicle (1) during reversing along a desired travelling path (TP), wherein the guiding is based on a lateral offset (y) between a preview point (P) located at a preview distance (Pd) behind the vehicle (1) and the desired travelling path (TP), the method comprising: determining (S1) a curvature of the desired travelling path (TP) behind the vehicle (1); adaptively adjusting (S2) the preview distance (Pd) in dependence on the determined curvature, thereby adaptively adjusting the preview point (P); and guiding (S3) the vehicle (1) along the desired travelling path (TP) by use of the lateral offset (y) between the adjusted preview point (P) and the desired travelling path (TP). The present invention further relates to a control unit (100), to a vehicle (1), to a computer program and to a computer readable medium.

An apparatus for assisting driving of a host vehicle provides stable control of the host vehicle by using road conditions including intersections, crosswalks and the like, forward lane markings, and a preceding vehicle. The apparatus includes an image sensor to capture images of an area in front of the host vehicle, and a controller configured to recognize a road section having no lane markings on a drive path, or recognize forward lane markings. The controller performs lateral control of the host vehicle selectively based on the forward lane markings and the recognized preceding vehicle according to whether the road section having no lane markings is recognized.

Disclosed herein is an apparatus for assisting driving of a vehicle for stable control of a host vehicle using road conditions including intersections, crosswalks and the like, forward lane markings, and a preceding vehicle. The apparatus includes a road information recognition unit configured to recognize a section having lane markings and a section having no lane markings on a drive path, a lane information generation unit configured to recognize forward lane markings provided in a direction in which a host vehicle is proceeding, a vehicle recognition unit configured to recognize a preceding vehicle of the host vehicle, and a controller configured to perform lateral control of the host vehicle by assigning weights to information acquired by recognizing the forward lane markings and information acquired by recognizing the preceding vehicle based on whether the section having no lane markings is recognized.