Abstract: A method for operating a vehicle includes detecting an object state using a surroundings sensor system of the vehicle at a first point in time, detecting an object state using the surroundings sensor system at a later second point in time, and adapting an activation state of a semi-automated or fully-automated driving function of the vehicle based on the detected object states.

Abstract: Systems and methods are provided for tracking moving objects from a set of measurements. An estimate of a posterior probability distribution for a plurality of track states is determined from an estimate of the posterior probability distribution for a plurality of possible assignments of the set of measurements to a set of tracks representing trajectories of the plurality of moving objects and the set of measurements. A new estimate of the posterior probability distribution for the assignments is determined from the measurements and the estimate of a posterior probability distribution for the track states. A variational lower bound is determined from the new estimate of the posterior probability distribution for the assignments, the estimate of the posterior probability distribution for the track states, and the set of measurements. These steps are iteratively repeated until the variational lower bound is less than a threshold value.

Abstract: A computer includes a processor and a memory. The memory stores instructions executable by the processor to receive in a host vehicle, from a target vehicle via wireless vehicle-to-vehicle communications, a target vehicle first location in a global coordinate system, determine a target vehicle second location in a local coordinate system that has an origin at the host vehicle, and identify a host vehicle location in the global coordinate system based solely on (i) local coordinate system data determined in the host vehicle, including the target vehicle second location and (ii) data in the vehicle-to-vehicle communications, including the target vehicle first location.

Abstract: A following system according to an embodiment, in which a mobile robot follows a moving object, includes a first camera and a mobile robot. The first camera is worn by the moving object and is used to photograph a scene in front of the moving object. The mobile robot includes a second camera for photographing a scene in front of the mobile robot, and acquires a following path according to a first front image from the first camera and a second front image from the second camera.

Abstract: A hybrid electric vehicle is capable of maximizing energy efficiency during platooning, and a platooning control method is carried out on the hybrid electric vehicle. The method includes acquiring acceleration information and deceleration information of each of a plurality of vehicles traveling in a platoon form for platooning so as to realize a pulse-and-gliding traveling mode, determining a traveling order of the vehicles during the platooning based on the acceleration information, and determining a time at which to start a glide phase of a following vehicle in the determined traveling order based on a time at which a glide phase of a preceding vehicle starts using the acceleration information and the deceleration information.

Abstract: Systems and methods for increasing the efficiency of vehicle platooning systems are described. In one aspect, drivers are more likely to enjoy a system if it begins platooning as desired and does not accidently end platoons. When a certain amount of data packets sent between vehicles are dropped, systems typically will either not engage in a platoon or end a current platoon. When a platoon has a very small gap between vehicles, the platoon should end—or not start, when a certain amount of packets are dropped. However, if a gap is large enough to provide a driver with more time to react, a system may accept a greater amount of dropped packets before it refuses to start a platoon or causes the end of a platoon.

Abstract: The present invention relates to a method and system for enabling vehicles to closely follow one another through partial automation. Following closely behind another vehicle can have significant fuel savings benefits, but is unsafe when done manually by the driver. By directly commanding the engine torque and braking of the following vehicle while controlling the gap between vehicles using a sensor system, and additionally using a communication link between vehicles that allows information about vehicle actions, such as braking events, to be anticipated by the following vehicle, a Semi-Autonomous Vehicular Convoying System that enables vehicles to follow closely together in a safe, efficient and convenient manner may be achieved.

Abstract: A lane change support apparatus includes an electronic control unit configured to, when it is recognized that there is an abnormality in a driver of a host vehicle, determine whether or not lane change is possible. The electronic control unit is configured to determine that the lane change is possible when a vehicle speed of the host vehicle is lower than a predetermined upper limit speed, a following vehicle present closest to the host vehicle has stayed in a rear guard vehicle approval range for a predetermined time or longer, and a vehicle is not present in a lane change allowance gap.

Abstract: A saddled vehicle driven by a driver can include a detection device and a cruise control device for judging the other vehicles detected by the detection device and traveling in a same traffic lane as the own vehicle's traffic lane as a preceding vehicle and for automatically controlling travel of the vehicle driven by the driver so that the vehicle driven by the driver follows the preceding vehicle and keeps a preset intervehicular distance relative to the preceding vehicle. The cruise control device can obtain a forward intervehicular distance which is a distance from the vehicle driven by the driver to the preceding vehicle in a traveling direction and a side intervehicular distance which is a distance from the vehicle driven by the driver to the preceding vehicle in a vehicle width direction and can perform the automatic travel control of the vehicle driven by the driver in accordance with the forward intervehicular distance and the side intervehicular distance.

Abstract: Some embodiments are directed to a computer system for enabling an implementer to select software for deployment to a vehicle control system. According to one aspect, a computer system of a vehicle includes a vehicle control system that is configured for operation with the vehicle. The computer system also includes a processor. The processor is configured to identify a set of vehicle-to-everything (V2X) applications for the computer system. Each of the V2X applications of the set of V2X applications is then evaluated based on market penetration rate influence on parameters that affect performance of each of the V2X applications. The processor is further configured to rank each of the V2X applications of the set of applications based on the evaluation. The computer system also includes an implementer configured to select a V2X application from the set of V2X applications based on the ranking to implement using the vehicle control system.

Abstract: A driving support ECU detects a shallow pressing operation monitoring signal of the turn signal lever is turned off (S14: Yes). When a timer value Tx representing an ON duration time period in which the shallow pressing operation monitoring signal is continued to be turned on reaches an assist request confirmation time period Tref (S19: Yes) and an LCA start condition is established (S20: Yes) after the detection of the shallow pressing operation monitoring signal, the driving support ECU starts LCA. The driving support ECU does not determines, until the LCA is completed, whether or not the shallow pressing operation monitoring signal is turned off. The driving support ECU restarts processes from S11 after the LCA is completed. Therefore, even if the shallow pressing operation is continued to be performed, the LCA is not executed further.

Abstract: A parking assist system for a vehicle uses cameras to collect ground images at opposite edges of the vehicle. A speed sensor provides a speed signal representing a speed of the vehicle. When speed is less than a threshold, a navigation system compares a geographic location of the vehicle to map data or the camera images are monitored to detect parking zones. A parking controller is coupled to the cameras, a display panel, navigation system, and speed sensor. When the parking controller detects that the geographic location of the vehicle coincides with a parking zone then the parking controller 1) examines the ground images to recognize a pair of edge boundaries of a parking spot, 2) calculates a proportion of an intersection length of the vehicle contained within the boundaries to a full length of the vehicle, and 3) displays the calculated proportion as a percentage on the display panel.

Abstract: An autonomous driving vehicle sets a travelable area in which the autonomous driving vehicle can travel in a process of going to a destination. In a multiple-lane area including two or more lanes in the travelable area, one lane is determined as a standard travel lane. Processing of determining the standard travel lane is configured so that dispersion occurs to standard travel lanes which are determined by a plurality of autonomous driving vehicles in a same multiple-lane area placed under a same environment.

Abstract: A vehicle detecting detection assisting method and a vehicle detection assisting system are provided. The vehicle detection assisting method includes the following steps. A scanning range of a lidar unit is obtained. A width of a lane is obtained. A trace of the lane is obtained. A dynamic region of interest in the scanning range is created according to the width and the trace.

Abstract: A method for adaptively controlling a vehicle speed in a vehicle includes establishing a reference speed; and activating an engine and/or brakes and/or a transmission of the vehicle by a speed-control system as a function of a set vehicle speed and/or a set vehicle retardation for fuel-saving adaptation of the currently existing vehicle speed to the reference speed. The set vehicle speed and/or the set vehicle retardation for a current driving-dynamics situation of the vehicle defined by driving-dynamics vehicle parameters is/are determined as a function of at least one computation coefficient. The at least one computation coefficient is provided by an external arithmetic unit outside the vehicle as a function of the currently existing driving-dynamics vehicle parameters and also as a function of currently existing route information for a route segment situated ahead. The route segment situated ahead is established on the basis of the currently existing driving-dynamics vehicle parameters.

Abstract: An interest level detection unit configured to detect a level of interest of an occupant in a travel state of an automatic driving vehicle, a manual driving characteristic learning unit configured to learn manual driving characteristics based on the travel state of the automatic driving vehicle, and an automatic driving characteristic setting unit configured to set automatic driving characteristics based on a surrounding state of the automatic driving vehicle, an interest level determination unit configured to determine the occupant's level of interest in the vehicle travel and a driving characteristic setting unit configured to set the driving characteristics based on the manual driving characteristics learned in the manual driving characteristic learning unit when the level of interest is determined to be high and set the automatic driving characteristics set by the automatic driving characteristic setting unit when the level of interest is determined to be low.

Abstract: One or more dynamic trailing objects can be detected in an external environment of a vehicle. Position data of the dynamic trailing object(s) can be acquired. It can be determined whether a current position of one of the trailing objects is at substantially the same longitudinal position as a previous position of the ego vehicle. If the current position of the dynamic trailing object is at substantially the same longitudinal position as a previous position of the ego vehicle, a lateral offset between the current position of the trailing object and the previous position of the ego vehicle can be determined. The lateral offset can be used to identify a current travel lane of the ego vehicle, determine lane crossings, and/or determine travel lane probability distributions.

Abstract: During automated or autonomous travel control of a subject vehicle, when a road section including at least one of a curve and a narrow road is present ahead of the subject vehicle and another vehicle is traveling in an adjacent lane to the traveling lane for the subject vehicle, inter-vehicle distance control is executed in which the subject vehicle is controlled to travel with an inter-vehicle distance that is set such that the subject vehicle and the other vehicle do not travel side by side when the subject vehicle travels in the road section.

Abstract: One or more dynamic leading objects can be detected in an external environment of a vehicle. The dynamic leading object(s) can be tracked by acquiring position data of the dynamic leading object(s) over time. When it is determined whether a current position of the ego vehicle is at substantially the same longitudinal position as one of the dynamic leading objects at a prior time based on the acquired position data of the dynamic leading object, a lateral offset between the current position of the ego vehicle and the previous position of the dynamic leading object can be determined. The lateral offset can be used to identify a current travel lane of the ego vehicle, determine lane crossings, and/or determine travel lane probability distributions.

Abstract: The present disclosure discloses a method and an apparatus for generating an autonomous driving strategy. A specific implementation of the method comprises: measuring state information of an instant vehicle and ambient scene information, the ambient scene information comprising: state information of an impediment vehicle, road structure information, and traffic scene information of the instant vehicle; determining a running track of the impediment vehicle according to the state information of the impediment vehicle within a predetermined period of time; determining a first mapping relation based on the state information of the impediment vehicle within the predetermined period of time and the running track of the impediment vehicle; and generating the autonomous driving strategy of the instant vehicle based on the first mapping relation, the road structure information, the state information of the instant vehicle and the traffic scene information of the instant vehicle.

Abstract: There is provided an electronic device including circuitry configured to control vehicle-to-X (V2X) communication based on an arrangement format of reference signals for channel estimation used for the V2X communication, and dynamically set the arrangement format for the reference signals.

Abstract: In a parking assist method executed using a parking assist ECU configured to control a subject vehicle to move along a targeted parking route to a target parking position, the control amount of a yaw angle of the subject vehicle with respect to the targeted parking route is increased in accordance with the decrease in a remaining distance to the target parking position of the subject vehicle.

Abstract: Methods, computer program products, and systems are presented. The method computer program products, and systems can include, for instance: obtaining, by one or more processor, one or more vehicle parameter of first and second moving vehicles; processing, by the one or more processor, the one or more vehicle parameter of first and second moving vehicles to determine rendezvous point information; outputting, by the one or more processor, data of the rendezvous point information to the first and second moving vehicles; and repeating, by the one or more processor, the obtaining, the processing and the outputting.

Abstract: A deflection control apparatus is configured to perform a deflection control in which a subject vehicle is deflected by a braking force difference between left and right wheels. The vehicle control apparatus is provided with: a calculator configured, in the deflection control, (i) to calculate a target yaw rate so that the subject vehicle drives on a target track by the deflection control, and (ii) to calculate a target yaw moment by dividing the calculated target yaw rate by a coefficient based on a velocity of the subject vehicle; and a controller configured to control a braking force of each wheel so that the target yaw moment is applied to the subject vehicle.

Abstract: A method of operation of a computer system includes: generating a pace maker including an illumination configuration with a control unit for actuating a pace maker device based on an actuation pattern; presenting the pace maker based on a pace maker type for controlling a travel pace; and determining a pace match level based on comparing the travel pace and the pace maker.

Abstract: Detecting the presence of target vehicles in front of a host vehicle by obtaining, using one or more visual sensors, an image of a field of view in front of a host vehicle and detecting, individually, a plurality of parts of one or more target vehicles in the obtained image. The detected plurality of parts, of the one or more target vehicles, are extracted from the obtained image and paired to form a complete target vehicle from the plurality of parts. The pairing is only performed on selective individual parts that overlap and have similar sizes indicating that they belong to the same target vehicle. A complete target vehicle is detected in response to forming a substantially complete target vehicle.

Abstract: A system includes a processor configured to receive a wireless light-state notification as a vehicle approaches a traffic light. The processor is also configured to determine an appropriate vehicle action based on at least the light-state, a vehicle speed and a vehicle proximity to the traffic light and recommend the appropriate action to the vehicle driver.

Abstract: The invention relates to a method for controlling an automated driver-assistance system of a motor vehicle, which proposes a first automated driving mode disengaging at the end of a first transition phase and a second automated driving mode disengaging at the end of a second shorter transition phase, comprising the following sequence of steps: detecting, when the first mode is activated, a degradation of the driving context which does not allow same to continue beyond said first transition phase (100); assessing the level of attention to driving of the driver (200); checking the compatibility of the driving context with the implementation of said second mode and that said level of attention is no lower than a predefined minimum threshold (300); and directly activating said second mode (600) if said checking step is validated and if said driver performs a given action within a predetermined time period.

Abstract: An operation information management device including: an acquiring unit configured to acquire operation information items of each of a plurality of vehicles; an evaluating unit configured to make evaluations of drivers respectively associated with each of the plurality of vehicles, the evaluations being made based on the operation information items; a determining unit configured to determine a ranking of one or more of the drivers associated with each of one or more vehicles of the plurality of vehicles which are classified into the same type of vehicle, the determining of the ranking being performed based on the evaluations of the one or more drivers; and a display control unit configured to control a display unit such that the display unit displays the ranking of the one or more drivers determined by the determining unit.

Abstract: A control apparatus for a vehicle provided with a motor/generator functioning as a drive power source, and a mechanically operated transmission mechanism which constitutes a part of a power transmitting path between the motor/generator and drive wheels, the control apparatus including a motor/generator control portion configured to implement a regenerative torque control of the motor/generator so as to generate a regenerative torque according to a braking operation by an operator of the vehicle in a decelerating run of the vehicle, and a transmission shifting control portion configured to initiate a shift-down action of the mechanically operated transmission mechanism after a rate of change of the regenerative torque has been held within a predetermined range for at least a predetermined length of time, where a determination to implement the shift-down action is made in the process of the regenerative torque control of the motor/generator according to the braking operation.

Abstract: System, methods, and other embodiments described herein relate to providing collaborative controls for a vehicle. In one embodiment, a method includes, in response to receiving manual inputs and autonomous inputs for controlling the vehicle, determining a difference between the manual inputs and the autonomous inputs. The method includes blending the manual inputs and the autonomous inputs together into the collaborative controls as a function of at least the difference, and feedback parameters to control the vehicle to proceed along a route. The method includes generating feedback according to at least the difference to adapt how the vehicle is controlled.

Abstract: A system includes a processor configured to receive information indicating the presence of an upcoming obstacle along a route and determine a vehicle-control strategy to minimize expected fuel usage between a current location and an obstacle location. The processor may further control the vehicle in accordance with the control strategy or recommend driver actions in accordance with the control strategy.

Abstract: A method for providing operation data onboard a first vehicle with autonomous capabilities. The method presents an image of an exterior view from the first vehicle with autonomous capabilities, by a user interface touchscreen communicatively coupled to a processor and system memory element; receives user input data to manipulate the image, via the user interface touchscreen; adjusts the image, by the processor, based on the user input data; modifies an operation parameter of the first vehicle with autonomous capabilities, by the processor, based on the user input data, to generate a modified operation parameter, wherein the operation parameter comprises at least one of a following distance, a stopping distance, or a turning speed; and transmits the modified operation parameter, via a communication device communicatively coupled to the processor.

Abstract: Systems and methods for coordinating and controlling vehicles, for example heavy trucks, to follow closely behind each other, or linking to form a platoon. In one aspect, on-board controllers in each vehicle interact with vehicular sensors to monitor and control, for example, relative distance, relative acceleration or deceleration, and speed. In some aspects, a lead vehicle can wirelessly transmit information from various electronic control units (ECUs) to ECUs in a rear vehicle. A rear vehicle can then apply transformations to the information to account for a desired following distance and a time offset. ECUs onboard the rear vehicle may then be controlled based on the ECUs of the lead vehicle, the desired following distance, and the time offset.

Abstract: Described is a system and method for the classification of agents based on agent movement patterns. In operation, the system receives position data of a moving agent from a camera or sensor. Motion data of the moving agent is then extracted and used to generate a predicted future motion of the moving agent using a set of pre-calculated Echo State Networks (ESN). Each ESN represents an agent classification and generates a predicted future motion. A prediction error is generated for each ESN by comparing the predicted future motion for each ESN with actual motion data. Finally, the agent is classified based on the ESN having the smallest prediction error.

Abstract: An automated driving unit implements an automated driving of a vehicle by implementing a present operation and a subsequent operation in order. The subsequent operation is an operation to be implemented subsequently to the present operation during the automated driving. A determining unit determines the subsequent operation of the vehicle. An imaging unit creates an image relevant to the subsequent operation according to information on the subsequent operation. A display unit indicates the image relevant to the subsequent operation while the automated driving unit implements the present operation.

Abstract: A computing device in a vehicle, programmed to pilot a vehicle by adaptive cruise control and determine a lane change maneuver based on the adaptive cruise control and determined traffic in an adjacent lane. The computing device can display a prompt to an occupant based on the lane change maneuver.

Abstract: A method includes, with a sensor mounted on a vehicle, measuring information of an infrastructure used by the vehicle, and first drive assisting information that is used to perform a drive assisting operation of the vehicle, transmitting the information of the infrastructure to an infrastructure inspection apparatus mounted in the infrastructure when the sensor measures the information of the infrastructure, receiving, from the infrastructure inspection apparatus, second drive assisting information that is used to perform the drive assisting operation of the vehicle, performing the drive assisting operation of the vehicle in response to the first drive assisting information if the sensor measures the first drive assisting information, and performing the drive assisting operation of the vehicle in response to the second drive assisting information if the sensor measures the information of the infrastructure.

Abstract: Data about vehicle movement at a stoplight are collected. A stoplight cycle time is predicted with a probability model. The data are compared to the predicted stoplight cycle time. A noise function is applied to the data to generate noise-applied data. The probability model for the predicted stoplight cycle time is updated by scaling the probability model with the noise-applied data to generate a new probability model. A recommended vehicle operation is provided via a network to at least one vehicle computer based on the predicted stoplight cycle time determined by the new probability model.

Abstract: An image processing device includes circuitry to acquire a range image, recognize an external situation indicating a situation of an imaging area corresponding to the range image, recognize a recognition target to be tracked from the range image by a recognition method based on the recognized external situation, remove the recognition target from the range image to generate a new range image, and detect an object in the new range image from which the recognition target has been removed.

Abstract: A vehicular display device, in execution of following cruise control with a preceding vehicle ahead of a host vehicle, causes a fixed indication to light up and displays a following mark in a superimposed manner with a following-target preceding vehicle. The fixed indication indicates that the following-target preceding vehicle has been detected. The vehicular display device includes a preceding vehicle detector that detects the following-target preceding vehicle, a display setter that sets the fixed indication to light up and sets the following mark to be displayed in a superimposed manner with the following-target preceding vehicle when the following-target preceding vehicle has been detected by the preceding vehicle detector, and a head-up display that displays images of the fixed indication and the following mark set by the display setter in a display region provided to be superimposed on a position of a windshield of the host vehicle.

Abstract: A travel control apparatus includes: a recognition processing section that recognizes a lane line of a traffic lane in which a host vehicle is traveling; a vehicle control section that performs lane keeping control such that a lateral position of the host vehicle is at a predetermined position with respect to the lane line; a radar that detects a preceding vehicle traveling ahead of the host vehicle; and a cancelling section that, when the recognition processing section does not detect the lane line, cancels the lane keeping control when a predetermined time has passed after the lane line is no longer detected. The predetermined time is shorter when a following distance between the host vehicle and the preceding vehicle is longer than a predetermined value than when the following distance is shorter than or equal to the predetermined value.

Abstract: Disclosed relates to a driving support apparatus including at least: a detection unit that detects a driving lane on which a user's vehicle and a front vehicle located in front of the user's vehicle are driving based on image data output from a camera; a first calculation unit that calculates a second front vehicle width for the front vehicle based on a first front vehicle width for the front vehicle measured on the image data, a first driving lane width for the driving lane measured on the image data, and a second driving lane width predetermined according to a characteristic of the driving lane; and a second calculation unit that calculates a distance from the front vehicle based on a focal length of the camera, the first front vehicle width, and the second front vehicle width, thereby precisely measuring the distance from the front vehicle based on camera image data.

Abstract: A control system that is suitable for use in a host motor vehicle (10) is configured and intended for detecting (S100) another motor vehicle (20), using the road, located in front of the host motor vehicle (10) by means of the at least one surroundings sensor, determining (S106) a lateral movement of the other motor vehicle (20) relative to a lane (12, 16) in which the other motor vehicle (20) or the host motor vehicle (10) is present, and computing (S108) a movement-based likelihood of a lane change by the other motor vehicle (20), based on the determined lateral movement of the other motor vehicle (20).

Abstract: A following cruise control method is provided for controlling a control vehicle to follow a target vehicle, the following cruise control method including: determining one of a plurality of vehicles cruising in a group as the target vehicle based on preset priorities of the plurality of vehicles; receiving following-target information comprising at least one of driving information, position information, and state information from the target vehicle; controlling follow-cruising of the control vehicle to follow the target vehicle with a preset following distance from the target vehicle by generating a driving command based on the following-target information; determining whether the target vehicle is abnormal based on the following-target information; and in response to the target vehicle being determined to be abnormal, stopping the follow-cruising of the control vehicle.

Abstract: Some embodiments provide a warning prompt control module which adjustably controls the display of warning prompts for vehicle elements in a vehicle, based on a determined profile with which the occupant is associated. An occupant detected in the vehicle interior can be associated with a profile based on a sensor data representation of the occupant correlating with a sensor data representation included in the profile, accessing a profile from a device supporting the occupant, etc. A profile can include interaction history data which indicate historical interactions with warning prompts for a vehicle element. Displaying a warning prompt for a vehicle element can be adjustably controlled based on the interaction history data, included in a profile, which is associated with the vehicle element.

Abstract: In accordance with an exemplary embodiment, a cutoff duration estimation system for a vehicle includes a vehicle model module having a vehicle profile model of the vehicle, a front vehicle detection module having a front vehicle deceleration model operable to determine a rate of close between the vehicle and a front vehicle, and a cutoff duration estimation system operable to determine an amount of time an engine of the vehicle will be operating in an overrun condition based on the vehicle profile model and the front vehicle deceleration model.

Abstract: Aspects of the present disclosure involve systems and methods for obtaining real-time road friction coefficient estimations. In one embodiment, a regression function is learned using a training data set which correlates input data measurements arriving from onboard system sensors and coefficient estimations arriving from an extension system. In another embodiment, the learned regression function can be retrieved to obtain real-time road friction coefficient estimations while the system is in motion.

Abstract: A collision avoidance assistance device includes: a target detection unit for detecting a target; a process execution unit for executing a collision avoidance assistance process in the case where it is determined that the target satisfies an execution condition; an image recognition unit for recognizing a target in an image; a position P acquisition unit for acquiring a position P, in a vertical direction, of the target; a size RS estimation unit for estimating an actual size RS of the target; and an execution condition setting unit for setting the execution condition to be stricter in the case where the following conditions J1 and J2 are satisfied or the following conditions J3 and J4 are satisfied than in other cases: (Condition J1) in the image, the position P is below a range ?; (Condition J2) the size RS is smaller than a range ?; (Condition J3) in the image, the position P is above the range ?; and (Condition J4) the size RS is larger than the range ?.

Abstract: The present disclosure provides a vehicle-mounted automatic drive control system, its control method and a vehicle containing the vehicle-mounted automatic drive control system. The vehicle-mounted automatic drive control system comprises at least one sensor, a controller, and a drive control feedback portion. The at least one sensor is coupled to the controller. The drive control feedback portion is coupled to the controller. The at least one sensor is configured to detect at least one object in an environment of the first vehicle and to send a detection result to the controller. The controller is configured to transmit a control signal to the drive control feedback portion if the detection result satisfies a preset condition. The drive control feedback portion is configured, upon receiving the control signal from the controller, to perform an operation such that the first vehicle can adjust a first driving status thereof.