On a basis of a relative position of an obstacle 401, a size of the obstacle in an own vehicle 12 width direction and a width of the own vehicle 12, a maximum amount D.sub.t of movement of the own vehicle 12 in the vehicle width direction as required to avoid the obstacle 401 is calculated. A point displaced over the maximum amount of movement toward a side of the adjacent lane from the relative position of the obstacle 401 is determined as an avoiding point 250. If a distance d between the avoiding point 250 and the adjacent lane is greater than the width Wm of the own vehicle 12, an avoiding path is generated for allowing the own vehicle 12 to pass the avoiding point 250.

The present invention relates to a method for collision avoidance for a host vehicle, the method comprising: detecting a target in the vicinity of the vehicle; determining that the host vehicle is travelling on a collision course with the target; detecting a user initiated steering action for steering the vehicle towards one side of the target; determining a degree of understeering of the host vehicle; when the degree of understeering exceeds a first understeering threshold, controlling a steering control system of the vehicle to counteract the user initiated steering action to thereby reduce the degree of understeering. The invention further relates to an evasive steering system.

A vehicle control device according to an embodiment of the present disclosure includes a path generating unit and a control unit. The path generating unit generates a target path used by a vehicle to reach a destination. The control unit controls at least steering of the vehicle such that the vehicle travels along the target path generated by the path generating unit and increases a degree by which deviation from the target path is suppressed in a particular situation.

A vehicle control device includes a detecting unit that detects a towing state of a subject vehicle, a recognizing unit that recognizes surrounding situations of the subject vehicle, a control unit that performs automatic control in which at least one of acceleration-and-deceleration and steering of the subject vehicle is automatically controlled on the basis of the surrounding situations of the subject vehicle recognized by the recognizing unit, and a changing unit that changes, if the detecting unit has detected that the subject vehicle is in a state of towing an object, details of control performed by the control unit in such a manner that it is less likely to perform the automatic control than in the case where the detecting unit has not detected that the subject vehicle is in a state of towing an object.

A control device for a land vehicle is described. The control device is set up to control at least one actuator of the land vehicle on the basis of an avoidance trajectory calculated by the control device in order to support a driver of the land vehicle during an evasive maneuver. The control device is also set up to receive sensor signals of at least one sensor; to generate an environmental model from the received sensor signals; to determine the position of an object relative to a current position of the land vehicle in the generated environmental model; and to calculate a preliminary avoidance trajectory. In the calculation of the preliminary avoidance trajectory, the current position of the land vehicle in the generated environmental model constitutes the starting point of the preliminary avoidance trajectory. A preliminary end point of the preliminary avoidance trajectory is determined on the basis of the determined position of the object. To determine the parameters of the preliminary avoidance trajectory, at least the coordinates of the starting point and of the preliminary end point are used.

Techniques and systems are described that enable evasive steering assist (ESA) with a pre-active phase. An ESA system predicts that a collision with an object is imminent and enters a pre-active phase. The pre-active phase causes a required drop in steering force to occur prior to determining that the collision is imminent. At a later time, the ESA system determines that the collision is imminent and enacts an active phase. The active phase causes a steering force effective to avoid the collision. By enacting the pre-active phase prior to the determination of the imminent collision, the ESA system may provide the additional steering force needed to avoid the collision without delay while simultaneously shielding a driver of vehicle from feeling the drop in steering force.

The technology involves determining a minimum lateral gap distance between a vehicle configured for autonomous driving and one or more other objects in the vehicle's environment. The minimum lateral gap is used when determining whether to have a driver take over control of certain driving operations. This provides a measure of safety during disengagements or other change of control events. Determining the minimum lateral gap includes calculating a budgeted distance based on a cross-track error for a lateral position of the vehicle, an allowed actual gap distance to an object in the vehicle's environment, and a perception error associated with a location of the object in the vehicle's environment. This determination can be done for a set of possible operating speeds and steering rate limit combinations. The vehicle's control system may notify the driver to take control, for instance with audible, visual and/or haptic notifications.

The disclosure relates generally to methods, systems, and apparatuses for automated or assisted driving and more particularly relates to identification, localization, and navigation with respect to bollard receivers. A method for detecting bollard receivers includes receiving perception data from one or more perception sensors of a vehicle. The method includes determining, based on the perception data, a location of one or more bollard receivers in relation to a body of the vehicle. The method also includes providing an indication of the location of the one or more bollard receivers to one or more of a driver and component or system that makes driving maneuver decisions.

A motor controller has an assist controller that generates an assist instruction AC to generate an assist torque for lightening a steering load based on a detected value of a steering torque, and a follow controller obtaining a target value of a physical quantity regarding a steering operation and generating a follow instruction TC of a follow control. Further, an intervention detector in the motor controller detects an intervention of a driver or of a system, and a restrictor restricts an internal value that is used by the assist controller or by the follow controller, so that a ratio of the assist torque against the automatic steering torque is changed, which makes it possible to switch a control to the driver or to a system without a causing a wrong feeling to the driver.

A steering-system for an automated vehicle is provided. The system includes an object-detector and a controller. The object-detector indicates a height and/or a width of an object approached by a host-vehicle. The controller is configured to steer the host-vehicle and is in communication with the object-detector. The controller steers the host-vehicle to straddle the object when the height of the object is less than a ground-clearance of the host-vehicle, and/or the width of the object is less than a track-width of the host-vehicle.