An adaptive cruise control system includes an information acquisition unit having a main detector and a secondary detector, a control unit, and an execution unit. The main detector detects an object located ahead of the vehicle. The control unit determines whether control of the vehicle is required depending on an actual value determined by the main detector and the threshold value of a system property characterizing the driving environment. The execution unit controls the vehicle. The secondary detector is arranged such that its field of view for detecting an object located at an angle ahead of the vehicle covers the boundary of the main detector's field of view, and which is oriented outwards in relation to the forward direction of the vehicle. The secondary detector sends an indication signal to adjust the threshold value of the system property when an object is detected.

An adaptive cruise control system includes an information acquisition unit having a main detector and a secondary detector, a control unit, and an execution unit. The main detector detects an object located ahead of the vehicle. The control unit determines whether control of the vehicle is required depending on an actual value determined by the main detector and the threshold value of a system property characterizing the driving environment. The execution unit controls the vehicle. The secondary detector is arranged such that its field of view for detecting an object located at an angle ahead of the vehicle covers the boundary of the main detector's field of view, and which is oriented outwards in relation to the forward direction of the vehicle. The secondary detector sends an indication signal to adjust the threshold value of the system property when an object is detected.

A vehicle is provided that includes a cruise control deactivation system. The system includes a cruise control system, and a user control that, when activated, commands deactivation of the cruise control system. The system also includes a processor configured to permit or override the commanded deactivation of the cruise control system while the vehicle is moving, based on at least one criterion. Criteria may include whether or not a first sensor detects a foot of a driver of the vehicle on an accelerator pedal of the vehicle, and whether or not a first computation indicates that the deactivation of the cruise control system will cause a collision with a second vehicle located behind the vehicle.

A vehicle is provided that includes a cruise control deactivation system. The system includes a cruise control system, and a user control that, when activated, commands deactivation of the cruise control system. The system also includes a processor configured to permit or override the commanded deactivation of the cruise control system while the vehicle is moving, based on at least one criterion. Criteria may include whether or not a first sensor detects a foot of a driver of the vehicle on an accelerator pedal of the vehicle, and whether or not a first computation indicates that the deactivation of the cruise control system will cause a collision with a second vehicle located behind the vehicle.

A position and attitude estimation apparatus includes sub-sensor input accepters, a speed sensor state determiner, a scale estimator, and a position and attitude information corrector. The sub-sensor input accepter accepts an output of a sub-sensor which acquires information regarding a movement amount based on information other than an output value of a speed sensor. The speed sensor state determiner determines whether the output value of the speed sensor is reliable. The scale estimator estimates a size of the movement amount based on at least one of the output value of the speed sensor and an output value of the sub-sensor. The position and attitude information corrector corrects position and attitude information based on the size of the movement amount estimated by the scale estimator.

A method for steering a vehicle along a path in a driveway and around obstacles between a starting position into a target position, comprises the steps of determining the vehicle dimensions, steering and driving capabilities, carrying out a path optimization step to evaluate, based on a predetermined cost function, the least costly path between the starting position and the target position avoiding any collisions with obstacles. The method further comprises the further step of applying a path improver step, smoothening the trajectory obtained by the path optimization method by means of numerical optimization while fulfilling dynamical constraints on acceleration and steering rate of the vehicle through planning lateral and longitudinal movement of the vehicle in a joint optimization problem or by means of separate optimization problems.

A method for steering a vehicle along a path in a driveway and around obstacles between a starting position into a target position, comprises the steps of determining the vehicle dimensions, steering and driving capabilities, carrying out a path optimization step to evaluate, based on a predetermined cost function, the least costly path between the starting position and the target position avoiding any collisions with obstacles. The method further comprises the further step of applying a path improver step, smoothening the trajectory obtained by the path optimization method by means of numerical optimization while fulfilling dynamical constraints on acceleration and steering rate of the vehicle through planning lateral and longitudinal movement of the vehicle in a joint optimization problem or by means of separate optimization problems.

Aspects of the present invention relate to a method and to a control system for controlling movement of a vehicle to provide vehicle creep, the vehicle comprising an engine and an electric traction motor, the control system comprising one or more controllers, wherein the control system is configured to: while a torque path between the engine and a first set of vehicle wheels is disconnected, control the electric traction motor to provide tractive torque to a second set of vehicle wheels to automatically move the vehicle to provide electric vehicle creep, wherein the electric vehicle creep is controlled by a mathematical model of engine creep torque that would be provided by the engine when the torque path between the engine and the first set of vehicle wheels is connected.

Aspects of the present invention relate to a method and to a control system for controlling movement of a vehicle to provide vehicle creep, the vehicle comprising an engine and an electric traction motor, the control system comprising one or more controllers, wherein the control system is configured to: while a torque path between the engine and a first set of vehicle wheels is disconnected, control the electric traction motor to provide tractive torque to a second set of vehicle wheels to automatically move the vehicle to provide electric vehicle creep, wherein the electric vehicle creep is controlled by a mathematical model of engine creep torque that would be provided by the engine when the torque path between the engine and the first set of vehicle wheels is connected.

A driving limitation system includes the steps of: identifying a driver by a driver authentication means; extracting information on the identified driver; extracting data relating to vehicle speed limitation according to the driver; extracting data relating to limitation in a vehicle traveling area according to the driver; performing selection or generation of map data regarding a traveling area; generating, on the basis of the extracted data relating to the vehicle speed limitation, vehicle traveling area limitation and the driver, a traveling speed control command within the limitation in the vehicle traveling area in accordance with the physical ability and/or cognitive ability of the driver; transmitting the traveling speed control command to a vehicle speed control means; generating a control command for controlling the vehicle speed on the basis of the safety speed indicated by the vehicle speed control means; and sending the control command to an engine and to a braking system to set the traveling speed of the vehicle to be equal to or lower than the safety speed according to the driver.