A vehicle maneuvering apparatus includes an imaging device configured to capture image data and a controller in communication with a vehicle maneuvering system. The controller is configured to identify a coupler position of a trailer in the image data and compare a coupler height of the coupler position with a hitch height of a hitch ball. In response to the coupler height being insufficient to clear the hitch height, the controller is further configured to calculate a target position laterally offset from the coupler position and communicate the target position to the vehicle maneuvering system.

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.

In a target track generation apparatus (10), a preceding vehicle position acquisition unit (1) acquires a relative position of a preceding vehicle. A subject vehicle state quantity acquisition unit (2) acquires a state quantity of a subject vehicle. A subject vehicle movement amount calculator (3) calculates a movement amount of the subject vehicle, based on the state quantity of the subject vehicle. A subject vehicle reference preceding vehicle position calculator (4) calculates a point group of subject vehicle reference preceding vehicle positions representing a history of the relative position of the preceding vehicle in a coordinate system using a current position of the subject vehicle as a reference, based on the relative position of the preceding vehicle and the movement amount of the subject vehicle. A target track generator (5) generates a target track of the subject vehicle, based on the point group of the subject vehicle reference preceding vehicle positions. A target track correction determination unit (6) determines whether or not correction of the target track is necessary, based on the point group of the subject vehicle reference preceding vehicle positions or the target track. A correction target track generator (7) 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.

A method for autonomously maneuvering a tow vehicle. The method includes receiving images from one or more cameras positioned on a back portion of the tow vehicle and receiving sensor data from an inertial measurement unit supported by the tow vehicle. The method also includes determining a pixel-wise intensity difference between a current received image and a previous received image. The method includes determining a camera pose and a trailer pose with respect to a world coordinate system. The camera pose and the trailer pose are based on the images, the sensor data, and the pixel-wise intensity difference. The method includes determining a tow vehicle path based on the camera pose and the trailer pose. The method also includes instructing a drive system supported by the tow vehicle to autonomously maneuver along the tow vehicle path in a reverse direction causing the tow vehicle to hitch with the trailer.

A driving supporter includes a support inhibitor that inhibits support of driving when a steering-operation value is greater than a threshold value. The support inhibitor includes a threshold-value determiner that determines the threshold value to a value greater when a first object and a second object are present than when the first object is present, and the second object is absent. The first object has a relationship in which a relative positional relationship between the object and an own vehicle is a relationship in which a steering operation is estimated to be performed in a first direction in which the own vehicle avoids the object. The second object has a relationship in which the relative positional relationship is a relationship in which the steering operation is estimated to be performed in a second direction reverse to the first direction such that the own vehicle avoids the object.

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.

In a vehicle control system that controls a platoon travel in which a plurality of vehicles travel in a platoon, the plurality of vehicles include a leading vehicle that is an autonomous driving vehicle and a following vehicle that follows immediately after the leading vehicle or follows the leading vehicle via one or more vehicles, and the following vehicle is permitted to park in a parking frame that exists in a range of detection performed by an external sensor mounted on the leading vehicle and configured to detect a surrounding environment of the leading vehicle.

Methods and apparatus for controlling two or more vehicles travelling in formation. Selected vehicles may be fully or partially autonomously controlled; at least one vehicle is partially controlled by a human driver. Information is collected at each vehicle and from the drivers and it is shared with other vehicles and drivers to create a shared world model. Aspects of the shared world model may be presented to the human driver, who may then respond with a control input. Autonomy systems and the drivers on the vehicles then collaborate to make a collective decision to act or not to act and execute any such action in a coordinated manner.

Disclosed is a method of providing a scenario-based overlay torque request signal in a steer torque manager (1) during driver-override of an auxiliary steering assistance system (2) function in a road vehicle (3) having an EPAS system (4). The steer torque manager (1) has a wheel angle controller (1b) for providing an assistance torque request related signal, and a driver-in-the-loop functionality (1a) for determining driver-override and providing a driver-override related signal. The method comprises receiving signals related to: assistance torque request; driver-override; road vehicle velocity; steering pinion angle; distance to an adjacent lane marker (5a, 5b); and distance to an adjacent potential threat object (6), and producing, from the received signals, during ongoing driver-override, a signal representative of a resistance torque request corresponding to one of a finite number of pre-defined scenarios for different signal combinations, and producing the scenario-based steering wheel overlay torque request signal through combining the assistance torque request and the resistance torque request signals.

Systems and methods to park a semi-autonomous follower vehicle involve performing path planning to determine a path from a current location of the follower vehicle to a parking space, and controlling longitudinal movement of the follower vehicle using an accelerator control mechanism and a brake control mechanism operated by a driver of a leader vehicle that is not physically coupled to the follower vehicle. The accelerator control mechanism includes a pedal, knob, or lever and the brake control mechanism includes a pedal, knob, or lever. Lateral movement of the follower vehicle is controlled in order to follow the path to the parking space.