Abstract: A vehicle travel control apparatus for improved vehicle following includes a sensor that obtains preceding vehicle speed information representing a vehicle speed of a preceding vehicle, and preceding vehicle information representing at least one of a lateral position and a lateral speed of the preceding vehicle with respect to a traveling direction of a host vehicle, and a controller that, during a following mode in which the host vehicle follows the preceding vehicle, determines a target value related to acceleration/deceleration of the host vehicle based on the preceding vehicle speed information such that the host vehicle follows the preceding vehicle, and controls the acceleration/deceleration of the host vehicle such that the target value is implemented. During the following mode, the controller corrects the target value related to the acceleration/deceleration of the host vehicle based on the preceding vehicle information.

Abstract: A driving assistance method executed by a driving assistance device including a tri-axial accelerometer, an information presentation controller, and an information presentation section.

Abstract: Apparatuses, computer programs and methods are provided. A method includes causing display on an autonomous or semi-autonomous vehicle of a dynamic sign acknowledging the presence of at least one road user.

Abstract: A driving control device uses a recognition reliability, and more specifically, uses an inter-vehicle distance, a radius of curvature of a road, and a gradient of the road, to determine detection precision with respect to a leading vehicle. Lane markings are set as restriction positions in cases in which the recognition reliability for the leading vehicle is greater than or equal to a reference. Positions closer to the vehicle than the lane markings are set as the restriction positions in cases in which the recognition reliability for the leading vehicle is lower than the reference.

Abstract: A terminal detection unit detects a mobile terminal located inside a vehicle. An action history information generation unit and storage unit associate the mobile terminal detected by the terminal detection unit and an action of the vehicle associated with each other and store them as action history information. An action suggestion unit searches the action history information stored in the storage unit for the action associated with the mobile terminal detected by the terminal detection unit and suggests the found action to a passenger of the vehicle.

Abstract: A driving control device that performs overtaking control, includes: a preceding vehicle information acquisition unit configured to acquire preceding vehicle information about a speed of a preceding vehicle; a determination unit configured to determine propriety of the overtaking control, based on a traveling environment; an overtaking vehicle speed calculation unit configured to calculate an overtaking vehicle speed of a host vehicle, based on the preceding vehicle information, in response to a determination by the determination unit that the overtaking control is possible; and a driving control unit configured to execute the overtaking control using the overtaking vehicle speed, wherein the overtaking vehicle speed calculation unit is configured to calculate an overtaking vehicle speed which is faster than a speed of the preceding vehicle and in which a speed difference relative to the speed of the preceding vehicle becomes a predetermined speed difference.

Abstract: A method of controlling coasting of a vehicle, may include a preparing step of measuring an interval between an objective vehicle and a foregoing vehicle traveling ahead of the objective vehicle. a starting step of calculating a distance moved by coasting for a first predetermined time from a current speed of the objective vehicle and of starting coasting when the calculated movement distance is larger than the interval measured in the preparing step. an ending step of calculating a distance moved by coasting for a second predetermined time from the current speed of the objective vehicle after coasting is started in the starting step, and of giving an instruction to end coasting when the calculated movement is larger than the interval measured in the preparing step, in which the time T1 is longer than the time T2.

Abstract: The invention regards a method for improving performance of a method for computationally predicting a future state of a target object, a driver assistance system and a vehicle with such driver assistance system. First data describing a traffic environment including a target object is acquired. On the basis of the acquired data at least one prediction step for estimating a future state of an object in the traffic environment is performed and a signal indicative of a prediction result describing an estimated future state of the target object and/or an ego vehicle is generated. An actual state of the target object and/or the ego vehicle is observed and quality of the prediction by comparing the observed actual state and the prediction result is estimated. Finally the prediction result and/or parameters of the prediction algorithm is adapted.

Abstract: A radar apparatus derives (i) first target information of a first target existing in the transmission range of the transmission wave, the first target being a rear end portion of a vehicle and (ii) second target information of a second target existing in the transmission range of the transmission wave, the second target being a portion of the vehicle other than the rear end portion of the vehicle. The radar apparatus calculates a distance difference between the first target and the second target, and predicts, in a case where the first target information of the first target derived in a previous target information derivation process is not derived in a latest target information derivation process, a position of the first target, using the distance difference and the second target information of the second target derived in the latest target information derivation process.

Abstract: A parking assist system for a vehicle is provided that includes a brake system having at least one wheel count encoder configured to output a wheel count signal and a controller configured to limit a velocity of the vehicle in a first mode. The controller is also configured to stop the vehicle at a target location in a second mode, and prevent overshoot of the target location by the vehicle in a third mode.

Abstract: A driving support apparatus includes an image acquisition that acquires a captured image, a calculator that calculates distance and relative speed between a subject vehicle and a following vehicle, and distances and relative speeds between following vehicles; an evaluator that evaluates a degree of risk caused when the subject vehicle changes a lane to the adjacent lane with respect to the following vehicles on a basis of the distances and the relative speeds; and a display controller that creates support information on the degree of risk associated with a lane change in association with road sections based on positions at which the following vehicles are present, and displays a support image in which a created support information is superimposed on the captured image at a corresponding position on the display portion.

Abstract: A vehicle speed limiting apparatus includes an opening detection unit to detect an opening of an accelerator pedal of the vehicle; an estimation unit to estimate whether the vehicle starts a lane change; and an ECU to implement an upper-limit setting unit to set an upper-limit speed of the vehicle, a vehicle speed control unit to control the traveling speed so as not to exceed the upper-limit speed even when the opening of the accelerator pedal becomes great enough to make the traveling speed exceed the upper-limit speed, and a permissible speed setting unit to set a permissible speed higher than the upper-limit speed. When the estimation unit estimates that the vehicle starts the lane change, the vehicle speed control unit permits the traveling speed to exceed the upper-limit speed, and controls the traveling speed so as not to exceed the permissible speed.

Abstract: A control apparatus for a vehicle includes: an inter-vehicle distance control unit that performs an inter-vehicle distance control with respect to a preceding vehicle; an engine stop-start unit that stops the engine when an engine stop condition is satisfied and starts the engine when an engine start condition is satisfied; a vehicle stop state maintenance unit that maintains a braking force for stopping the vehicle; the engine stop-start unit stops the engine, by activation of the vehicle stop state maintenance unit in the case where the vehicle is stopped by the inter-vehicle distance control unit; and an engine operation control unit that, in the case where the inter-vehicle distance control unit is set to be active in the vehicle stop state, maintains the operation state of the engine before the inter-vehicle distance control unit is set to be active.

Abstract: The invention relates to a method for operating a vehicle with a drive device (20) which has at least one internal combustion engine (21) as a drive machine, wherein a drive torque requested by a driver of the vehicle (1) is implemented by operating at least the internal combustion engine (21) on a roadway (2), comprising the following steps: a) Monitoring the roadway (2) for road users (3) travelling ahead, by means of a surroundings sensor system (5), b) Monitoring a driver of the vehicle (1) by means of a state sensor system (8) with respect to his request to carry out an overtaking process in order to overtake a detected road user (3) travelling ahead, and if a request to carry out an overtaking process has been detected, c) Actuating the drive device (20) to prepare the overtaking process in such a way that before the overtaking process is carried out a torque reserve of the internal combustion engine (21) is built up.

Abstract: A trajectory tracking control unit carries out a trajectory tracking control in the event that a predetermined condition is satisfied. On the other hand, in the case that a preceding vehicle recognizing unit detects that a preceding vehicle has moved in a vehicle transverse direction, the trajectory tracking control unit predicts that the preceding vehicle will depart from a lane in which it is traveling. Therefore, even if the predetermined condition is satisfied after the preceding vehicle recognizing unit has detected that the preceding vehicle has moved in the vehicle transverse direction, the trajectory tracking control unit does not cause the driver's own vehicle to follow the trajectory of the preceding vehicle.

Abstract: The present disclosure provides an apparatus and method for guiding a driver in coasting of an eco-friendly vehicle at an appropriate timing in a situation where deceleration is needed, which can enable economic driving through energy savings and improve the mileage and fuel efficiency of the vehicle.

Abstract: A method is disclosed for operating an aftertreatment system having a diesel particulate filter of an internal combustion engine of an automotive system. A regeneration event of the diesel particulate filter is started. The presence of an object ahead of the automotive system is detected. A value of a deceleration that the automotive system should perform in order to avoid a collision with the object is determined. A temperature of the diesel particulate filter is reduced if the value of the deceleration is greater than a first predetermined threshold value.

Abstract: A pre-warning method utilized in a vehicle radar system is disclosed. The vehicle radar system includes a frequency-modulation continuous wave (FMCW) module, a data transceiver module and an antenna module, and the FMCW module and the data transceiver module share the antenna module. The pre-warning method includes the FMCW module utilizing the antenna to transmit and receive beat signals to detect dynamic information of a target corresponding to the vehicle radar system and obtain a first detection result, and receiving and broadcasting data to broadcast the first detection result via the data transceiver module and the antenna module, or receive a detection result broadcasted by another vehicle radar system and combine the detection result with the first detection result to perform real-time target tracking and alarm.

Abstract: A method for operating a speed control system of a vehicle having a plurality of wheels is provided. The method comprises receiving one or more electrical signals representative of vehicle-related information. The method further comprises determining, based on the one or more electrical signals representative of vehicle-related information, that one or more of the wheels of the vehicle have overcome an obstacle or are about to overcome an obstacle and that therefore a reduction in an applied drive torque to one or more of the wheels of the vehicle by a powertrain subsystem (applied drive torque) will be required to maintain the speed of the vehicle at a target set-speed of the speed control system. The method still further comprises automatically commanding the application of a retarding torque to one or more of the wheels of the vehicle to counteract the effect of an overrun condition in the powertrain subsystem from increasing the speed of the vehicle.

Abstract: Methods and systems for controlling the speed of a host vehicle during an on-ramp merging situation. One method includes identifying a position of an upcoming on-ramp merging with a lane where the host vehicle is currently traveling based on lane markings identified in an image captured by a forward-facing image sensor mounted on the host vehicle, detecting a merging vehicle on the upcoming on-ramp, and determining a speed of the merging vehicle. The method also includes automatically, at a control unit, adjusting a speed of the host vehicle based on the speed of the merging vehicle.

Abstract: A computer-implemented method, system, and/or computer program product automatically provide spatial separation between self-driving vehicles (SDVs) operating in an autonomous mode and vehicles being operating in a manual mode on a roadway. A first SDV operating on the roadway is operating in autonomous mode. A second vehicle may be operating in the autonomous mode or a manual mode, in which a driver is controlling the second vehicle. Processor(s) issue spatial separation instructions to the first SDV, which direct SDV control mechanisms controller on the first SDV to direct a set of SDV vehicular physical control mechanisms on the first SDV to provide a predetermined amount of spatial separation between the first SDV and the second vehicle, based on whether the second vehicle is being operated in the manual mode or in the autonomous mode.

Abstract: A method for displaying vehicle information includes: setting a driving velocity and an inter-vehicle distance after activating a smart cruise control function; performing a smart cruise control according to the set driving velocity and the set inter-vehicle distance and displaying smart cruise control-related information in an augmented reality display region located in a front portion of a driver's own vehicle; comparing an actual inter-vehicle distance between the driver's own vehicle and a nearby vehicle to the set inter-vehicle distance during performance of the smart cruise control; determining an information displayable region in the augmented reality display region when the actual inter-vehicle distance is less than the set inter-vehicle distance; and displaying display information corresponding to the set inter-vehicle distance in the information displayable region.

Abstract: Provided is a drive assist apparatus: based on signal indication information on a traffic signal installed at at least one intersection located ahead of a self-vehicle in a travelling direction of the self-vehicle, distance information from the self-vehicle to the at least one intersection, and a running speed of the self-vehicle, a recommended speed at which the self-vehicle can pass through the at least one intersection during a period in which the traffic signal installed at the at least one intersection is green is calculated and is notified to the driver. In addition, when a difference obtained by subtracting an actual running distance from a predicted running distance in a case where the self-vehicle runs at the recommended speed exceeds a first threshold value, it is determined that the road has a traffic jam and the notification of the recommended speed is terminated.

Abstract: A method for operating a powertrain system of a vehicle includes determining an initial creep torque command in an operator-selected direction of travel, adjusting the initial creep torque command responsive to an operator braking request and responsive to a change in direction of vehicle speed relative to the operator-selected direction of travel, and operating the hybrid powertrain to generate axle torque in response to the adjusted creep torque command.

Abstract: Embodiments are disclosed for an example vehicle-to-vehicle communication system. The example vehicle-to-vehicle communication system includes a user input interface configured to receive a user input, an inter-vehicle communication system capable of communicating with a navigation system of a second vehicle, a processor, and a storage device storing instructions executable by the processor to receive a first separation from the user of the first vehicle, the first separation being input via the user input interface. Responsive to receiving a first separation from the user of the first vehicle, instructions are further executable to determine a space cushion between the second and first vehicles, the space cushion being determined based on one more of the first separation and a second separation communicated from the second vehicle via the inter-vehicle communication system, and adjust a distance between the first and second vehicles based on the space cushion.

Abstract: A rear cross traffic avoidance system includes an object detection device sensing remote objects rearward of a host vehicle. An object classifier distinguishes a remote dynamic object from remote static objects. The object classifier identifies a shape of the dynamic object. A tracking system tracks the remote dynamic object. A processor determines the remote object being on an intersecting path to the remote vehicle. The processor determines a warning threat assessment as a function of a time to intersect between the host vehicle and the remote dynamic object. The processor determines a brake threat assessment in response to an actuated warning of a collision. A brake actuation system actuates a braking operation for mitigating the collision.

Abstract: A multifunctional airbag triggering system embedded to any kind of vehicle and coupled to a communication network, comprising: a method of activating the inflation of vehicular airbags jointly with the broadcasting of a warning alert to all correspondent vehicles adhered to the system, whenever that precautionary measures to mitigate possible undesirable consequences arisen from a sudden vehicular accident of major severity are needed; electronic means for the instant broadcasting of a general alert announcing that an urgency is presently in force somewhere in the vicinity, allowing so that all incoming drivers should be ready to avert sequential collisions somewhere ahead with an affected vehicle much before it can be seen, giving so time enough to the oncoming drivers for a safe deceleration; a large, exclusive and dedicated broadcasting network instantly created between drivers and authorities through which a warning alert is sent simultaneously with the occurrence of a vehicular accident.

Abstract: A method for use in an active safety system installed on a host vehicle is provided. The method comprises acquiring, for each of a plurality of target objects in the path of the host vehicle, a value of a parameter that is representative of a likelihood that the host vehicle will collide with the target object. In an exemplary embodiment, the parameter that is utilized comprises a time-to-collision between the host vehicle and the target object. The method further comprises evaluating one or more of the acquired parameter values to determine if the host vehicle is likely to collide with one or more of the target objects, and triggering one or more collision avoidance measures when it is determined that the host vehicle is likely to collide with one or more of the target objects. An active safety system configured to perform the methodology is also provided.

Abstract: A device for a traffic flow assistant for a vehicle includes a surroundings sensor system, which recognizes traffic-relevant objects on a traffic lane, on which the vehicle is traveling, and on at least one further adjacent lane, gaps in the traffic are recognized with the aid of the surroundings sensor system and vehicle-dynamic parameters of the objects are determined and future gaps in the flow of traffic are able to be predicted therefrom. For these recognized gaps and predicted gaps, lane change options are ascertained and, from this and the present and/or predicted presence of gaps in the traffic suitable for changing lanes and the vehicle-dynamic state of the vehicle, a signal for the lane selection is generated, which is dependent on the lane change options and an optimization strategy.

Abstract: A control device for a vehicle regenerative braking system, having an engine control device, with which a setpoint engine braking torque variable for a setpoint engine braking torque to be imparted by an electric motor, useable in generator mode, is defineable, considering a setpoint overall braking torque variable for a predefined setpoint overall braking torque, and considering an actual friction braking torque variable for an imparted/impartable actual friction braking torque of at least one additional friction brake, wherein if the setpoint variable is below a threshold, the setpoint variable is defineable according to a difference between the setpoint overall braking torque to be imparted and the imparted/impartable braking torque, and if the setpoint variable is above the threshold, the setpoint variable is defineable according to a sum of a predefined additional braking torque and the difference. Also described are a regenerative braking system and method.

Abstract: A course evaluation apparatus includes an estimated-course-group generation portion that generates a plurality of estimated course groups for a movable body; and a course evaluation portion that performs a course evaluation on the plurality of estimated course groups with respect to at least two different evaluation criteria.

Abstract: Methods and vehicles are provided for identifying objects in proximity to the vehicle and controlling active safety functionality for the vehicle. A target object in proximity to the vehicle is detected. A movement of the target object is measured. The target object is classified based at least in part on the movement. The active safety functionality is controlled based at least in part on the classification of the target object.

Abstract: When an accelerator pedal and a brake pedal are being simultaneously operated, an electronic control unit executes a driving power limiting process, in which the driving power is set less than that when only the accelerator pedal is operated. The electronic control unit executes the driving power limiting process after a predetermined time has elapsed from when simultaneous operation of the accelerator pedal and the brake pedal is performed. If the accelerator pedal and the brake pedal are simultaneously operated, the electronic control unit sets a target deceleration of the vehicle based on the vehicle speed before the start of the driving power limiting process and the operation amount of the brake pedal and then controls the driving power during execution of the driving power limiting process such that the deceleration of the vehicle matches the target deceleration.

Abstract: A system for governing a reference speed vref_dhsc for a downhill speed control system in a vehicle in connection with a downhill gradient. A simulation unit simulates at least one future speed profile vsim for an actual vehicle speed over a section of road in front of the vehicle, based on topographic information. An establishing unit establishes whether the reference speed vref_dhsc is to be allocated an increased reference speed vref_dhsc_schwung. This establishing is based on a comparison of the simulated future speed profile vsim with a permitted magnitude of the increased reference speed vref_dhsc_schwung and/or with an infringement speed vsl. An allocation unit allocates the value of the increased reference speed vref_dhsc_schwung to the reference speed vref_dhsc if this has been established.

Abstract: A collision avoidance assistance device includes an assistance execution unit configured to execute collision avoidance assistance in a case where it is determined that a vehicle will collide with an object, in which, when it is not determined whether the vehicle will collide with the object or not during execution of the automatic braking based on the collision avoidance assistance, the assistance execution unit is configured to inhibit cancellation of the automatic braking in a case where the object is present in front of the vehicle.

Abstract: A position detecting apparatus includes: a scale having pattern arrays having different cycles of a mover, a sensor detecting phase signals having different cycles based on the scale depending on a position of the mover; a signal processor generating and outputting displacement signals based on the phase signals by switching the displacement signals at a cycle; a detector detecting a speed of the mover based on at least one displacement signal; an absolute calculator deriving the position of the mover based on displacement signals; and a relative calculator deriving a displacement amount with respect to a predetermined position based on a selected displacement signal, wherein the position is calculated by the absolute calculator when the mover moves slow, and when the mover moves fast, the position of the mover is calculated based on an absolute position of the mover obtained in advance and the displacement amount the relative calculator obtained.

Abstract: A system and method for presenting a range via a graphical user interface (GUI) representing a gauge based on an operating parameter of a vehicle are provided. The system includes a speed receiver to receive the speed of the vehicle; a setting retriever to retrieve the range based on the operating parameter, the operating parameter being related to the speed; and a display driver to communicate the range to the GUI.

Abstract: A vehicle running control apparatus includes a following distance control unit for maintaining a following distance between an own vehicle on which the vehicle running control apparatus is mounted and a preceding vehicle, an accelerating unit for accelerating the own vehicle at a set acceleration so that a speed of the own vehicle reaches a set speed when the preceding vehicle is lost, and an acceleration suppressing unit configured to suppress acceleration of the own vehicle by the accelerating unit on condition that the preceding vehicle and the own vehicle are under an acceleration suppression condition that an allowance time to collision is smaller than a predetermine lower limit at a moment of loss of the preceding vehicle.

Abstract: A vehicle control system includes: an anti-collision safety control unit executing anti-collision safety control for avoiding or alleviating a collision with an object including a reflection point on the basis of positional information about the reflection point, output from a positional information output unit; and a cancellation unit calculating an index value that increases with a duration of a state where a variation in a position of the reflection point in a direction perpendicular to a vehicle travelling direction is smaller than a predetermined amount and that, when the index value exceeds a threshold, issues a command such that the anti-collision safety control unit does not execute anti-collision safety control over the reflection point. When it is determined that the vehicle is travelling near a curve entrance, the cancellation unit increases the threshold as compared with when it is determined that the vehicle is not travelling near a curve entrance.

Abstract: An apparatus for warning of dangerous passing of a vehicle may include: a vehicle information collector configured to collect vehicle information containing one or more of vehicle speed, traveling direction, and location; a vehicle information transmitter/receiver configured to transmit the vehicle information collected through the vehicle information collector, and receive other vehicle information transmitted from other vehicles; a controller configured to determine the direction of a lane change signal when the lane change signal is inputted, and determine whether to output a warning based on the vehicle information collected through the vehicle information collector and the other vehicle information received through the vehicle information transmitter/receiver; and a warning output unit configured to output a warning according to the determination of the controller.

Abstract: An input control system, method, and apparatus for adjusting an input control value of a motor or engine by damping the acceleration curve. In certain aspects, the damping may gradually increase until the input control optimization system detects a change in the behavior of the vehicle operator, for example, in the form of a conscious or unconscious increase in aggressive use of the accelerator pedal. When such behavior is detected, the input control optimization system reverses the damping and begins to restore gradually the original acceleration curve until aggressive pedal use by the operator is no longer detected.

Abstract: The present invention discloses an autonomous driving system able to make driving decisions and a method thereof, which decide a safer vehicle movement, wherein a processor generates a left-turn signal, a forward signal and a right-turn signal, receives and vectorizes a vehicle movement signal and object movement signals to determine whether one object is a dangerous or non-dangerous object, inputs the results into a corresponding equation to generate dangerous and non-dangerous object weights, substitutes the dangerous and non-dangerous object weights into a space weight equation to calculate left-turn, forward and right-turn lane section weights, uses the lane section weights to generate left-turn, forward and right-turn signal weights, generates a movement signal or a braking signal according to whether a highest one of the signal weights is over or below preset weight.

Abstract: A control system for a vehicle includes first and second modules. The first module receives input from an operator of the vehicle via an input device, wherein the operator input includes a change to an operating parameter of a vehicle system. The second module selectively adjusts a resistance of the input device based on the operator input and a predetermined threshold. A method for controlling a vehicle includes receiving input from an operator of the vehicle via an input device, wherein the operator input includes a change to an operating parameter of a vehicle system, and selectively adjusting a resistance of the input device based on the operator input and a predetermined threshold.

Abstract: A method for operation of a reference-speed-regulating cruise control and a reference-speed-regulating cruise control which demands from a vehicle engine system a reference speed vref which may differ from a chosen set speed vset. Adjustment of at least the set speed vset is allowed if the reference speed vref differs from the set speed vset, which adjustment is based at least partly on a current speed vpres of the vehicle and on input from a user of the reference-speed-regulating cruise control. Quick and simple user-controlled adjustment of the set speed vset is thus achieved.

Abstract: The invention relates to a driving assistance system including a prediction subsystem in a vehicle. According to a method aspect of the invention, the method comprises the steps of accepting a set of basic environment representations; allocating a set of basic confidence estimates; associating weights to the basic confidence estimates; calculating a weighted composite confidence estimate for a composite environment representation; and providing the weighted composite confidence estimate as input for an evaluation of a prediction based on the composite environment representation.

Abstract: A control device for a vehicle executes an adaptive cruise control and an idle stop control. The control device automatically starts an internal combustion engine when an operation amount of a start operating member different from a brake pedal is larger than or equal to a predetermined amount while the idle stop control is being executed. The control device sets the predetermined amount to a first predetermined amount when the adaptive cruise control is not executed. The control device sets the predetermined amount to a second predetermined amount smaller than the first predetermined amount when the adaptive cruise control is being executed.

Abstract: A system and method for controlling automatic cruise control system is provided. More specifically, a request torque for the automatic cruise control system is calculated based on the target vehicle speed and the inclination angle of a road on which the vehicle travels, and the calculated request torque is distributed into engine torque and motor torque at a predetermined ratio. The engine and a motor are then controlled so that the engine and the motor generate torque at the predetermined ratio, and a speed difference between the traveling vehicle speed and the target vehicle speed are calculated. Additionally, a following motor torque is calculated for following the target vehicle speed based on the calculated speed difference and then is added to the distributed motor torque. The traveling vehicle speed is then controlled to the target vehicle speed based on the summed motor torque.

Abstract: In a method for detecting a starting intention of a stopped vehicle, a starting intention criterion is ascertained upon detection of a stopped vehicle, and decision data are formed based on the starting intention criterion, which decision data include an item of information on whether or not the stopped vehicle will start.

Abstract: Methods and devices for using uncertainty regarding observations of traffic intersections to modify behavior of a vehicle are disclosed. In one embodiment, an example method includes determining a state of a traffic intersection using information from one or more sensors of a vehicle. The vehicle may be configured to operate in an autonomous mode. The method may also include determining an uncertainty associated with the determined state of the traffic intersection. The method may further include controlling the vehicle in the autonomous mode based on the determined state of the traffic intersection and the determined uncertainty.

Abstract: An ECU calculates: a free running distance, which is a distance that a vehicle can travel from a first time point at which a speed-reduction control is started to a second time point at which the relative deceleration begins to increase by the start of the speed-reduction control; an increase travel distance, which is a distance that the vehicle can travel from the second time point to a third time point at which the relative deceleration reaches the target relative deceleration; and a post-completion travel distance, which is a distance that the vehicle can travel from the third time point to a time point at which the relative speed is made equal to or less than the specified speed. The ECU obtains a speed reduction distance based on a result of adding up the free running distance, the increase travel distance, and the post-completion travel distance.