Abstract: An airbag device including an airbag that inflates and deploys from a seat rear side of a vehicle seat toward a seat front side via a seat upper side. In an inflated and deployed state, the airbag includes a pair of front-rear chambers extending in a front-rear direction via left and right sides of a head of a passenger, an airbag body that is in communication with the pair of front-rear chambers and that is disposed at a seat front side of the passenger between the pair of front-rear chambers, and a pair of rear tethers including one-end portions attached to the airbag body and other-end portions attached to a seatback. At a time of restraint of the passenger, the airbag body is pulled by the rear tethers obliquely rearward and downward such that the front-rear chambers press shoulders of the passenger from a seat upper side.

Abstract: An airbag device has an airbag. The airbag has a front-rear chamber and an airbag main body. The front-rear chamber has a left and right pair of front-rear extending portions that pass by respective left and right sides of a head of a passenger and inflate and deploy toward the seat front side, and a connecting portion connecting front end portions of the pair of front-rear extending portions in a seat left-right direction. Gas is supplied to the airbag main body via a communication hole positioned at a seat rear side of the connecting portion of the front-rear chamber that has inflated and deployed. Owing to inflation and deployment of the front-rear chamber, the airbag main body passes through a gap between a ceiling of the vehicle and the head from the seat rear side toward the seat front side, and thereafter, inflates and deploys toward the seat rear side.

Abstract: An airbag device has an airbag. The airbag has a front-rear chamber and an airbag main body. The front-rear chamber has a left and right pair of front-rear extending portions that pass by respective left and right sides of a head of a passenger seated in a vehicle seat and inflate and deploy toward the seat front side, and a connecting portion connecting front end portions of the pair of front-rear extending portions in a seat left-right direction. The airbag main body inflates and deploys toward a side of the passenger at a seat rear side of the connecting portion, later than the front-rear chamber. At a time when the passenger is restrained, the airbag main body is compressed in a seat front-rear direction while stretching the front-rear chamber in the seat front-rear direction.

Abstract: An airbag housing cover made of a thermoplastic elastomer composition comprising a propylene-based random copolymer and a styrene-based elastomer having a glass transition temperature in the range of ?65° C. or higher and ?45° C. or lower, wherein a total content of the propylene-based random copolymer and the styrene-based elastomer is more than 40% by mass and 100% by mass or less with respect to 100% by mass of the thermoplastic elastomer composition.

Abstract: A vehicle includes a first pillar and a second pillar spaced along a vehicle-longitudinal axis. The first pillar and the second pillar define a door opening therebetween. An airbag is above the door opening in an uninflated position and is inflatable across the door opening to an inflated position. A cable is above the door opening when the airbag is in the uninflated position. The cable extends across the door opening from the first pillar to the second pillar when the airbag is in the inflated position. A pyrotechnic retractor is below the airbag and the cable when the airbag is in the uninflated position. The pyrotechnic retractor is connected to the cable.

Abstract: An airbag device has an airbag. The airbag has a front-rear chamber and an airbag main body. The front-rear chamber has a left and right pair of front-rear extending portions that pass by respective left and right sides of a head of a passenger and inflate and deploy toward the seat front side, and a connecting portion connecting front end portions of the pair of front-rear extending portions in a seat left-right direction. The airbag main body inflates and deploys toward a side of the passenger at a seat rear side of the connecting portion, later than the front-rear chamber. The airbag main body has a downward-force applying portion that applies force directed toward a seat lower side to the airbag at a time when the passenger is restrained by the airbag.

Abstract: A safety belt automatic adjustment apparatus includes a safety belt buckle fastening assembly, a safety belt retractor and a linking component. The safety belt buckle fastening assembly is rotatably connected to a seat body of a child safety seat and for connecting with a safety belt buckle. The safety belt retractor is used for retracting a safety belt, and the safety belt retractor includes a restraining assembly for restraining a movement of the safety belt in a predetermined direction. The linking component is installed between the safety belt buckle fastening assembly and the safety belt retractor, and the safety belt buckle fastening assembly rotates to drive the linking component and the restraining assembly, so as to restrain or release the safety belt winding around the safety belt retractor. The safety belt automatic adjustment apparatus has advantages of automatic adjustment for the safety belt, simple structure, convenient operation and enhanced safety.

Abstract: A vehicle puddle lamp assembly including a housing, a lens coupled to the housing, and a printed circuit board mounted to the housing. At least one near-infrared light source to emit near-infrared light through the lens is coupled to the printed circuit board. A palm image sensor is also coupled to the printed circuit board. The palm image sensor is configured to detect a palm vein pattern illuminated by the near-infrared light and reflected from a user's palm through the lens.

Abstract: A motor control device includes a driving control part and an upper limit value setting part. The driving control part controls motor driving by switching between a first driving mode and a second driving mode, and controls an output duty ratio so as not to exceed a duty ratio upper limit value. The upper limit value setting part sets, as the duty ratio upper limit value, a low rotation duty ratio upper limit value, a maximum duty ratio upper limit value corresponding to a maximum output value, and an upper limit value of a transition period from the low rotation duty ratio upper limit value to the maximum duty ratio upper limit value, and changes slope information indicating a change amount in the upper limit value of the transition period according to the driving mode when switching between the first driving mode and the second driving mode.

Abstract: Provided are devices for camera cleaning and flare reduction for vehicles, which can include a cleaning device for cleaning a transparent window of a housing containing a camera system. The devices can include optical panels with different properties that can be moved in front of the transparent window for flare reduction. Methods are provided which can include analyzing at least one image to determine a presence of an optical flare within the at least one image, and, based on detecting the optical flare, causing at least one optical panel to be moved into a position in front of a lens of the imaging device. Computer program products are also provided.

Abstract: A wiper washer control apparatus includes an ignition sensor, a shift position sensor, a wiper driving unit, a washer spraying unit, a wiper lever detection unit, and a wiper washer control unit. The wiper washer control unit changes a control to be performed by the wiper driving unit to a delay mode when receiving information indicating that the traveling driver is in the started state from the ignition sensor, receiving information indicating that a shift position is in a parking range from the shift position sensor, and receiving information indicating that the delay mode is to be started from the wiper lever detection unit. The wiper washer control unit changes the control to be performed by the wiper driving unit to a spray mode when receiving, in the delay mode, information indicating that the spray mode is to be started from the wiper lever detection unit.

Abstract: A sensor assembly includes a blower, a sensor, an air nozzle positioned to receive airflow from the blower and eject the airflow onto the sensor, an air pump positioned to eject airflow onto the sensor, and a heater mounted to the air pump and positioned to heat airflow passing through the air pump.

Abstract: A vehicle wheel well heating system for being actuated by a wireless device includes a vehicle transporting a user including a car body having a plurality wheel wells and a plurality of wheels being attached to the car body. Each of the wheels is positioned in one of the wheel wells and each of the wheel wells has one of a plurality of heating assemblies mounted therein. Each of the heating assemblies remotely actuates by a remotely positioned control and retains a temperature of an associated one of the wheel wells above 0° C. to inhibit snow and ice from building up in the wheel well and on a corresponding one of the wheels.

Abstract: Proposed is a mat cleaning device. The mat cleaning device includes a casing which constitutes an exterior of the mat cleaning device, a washing water spray nozzle which is disposed on one side of the casing and sprays washing water on the mat, a drive motor which is disposed inside the casing and provides power, a plurality of rollers which is rotated by the power supplied from the drive motor and transfers and washes the mat, a vacuum pump which forms vacuum pressure, a vacuum suction means which sucks moisture and foreign matter on a surface of a washed mat by using the vacuum pressure formed by the vacuum pump, and a centrifugation chamber which provides the vacuum pressure formed by the vacuum pump to the vacuum suction means.

Abstract: A vehicle including an aerial device movable from a first position to a second position. A computer control system includes a sensor that detects an operational parameter of the aerial device when the aerial device is in the first and second positions. The sensor outputs first and second signals for the operational parameter when the aerial device is in the first and second positions. When the aerial device is in the first position, the computer control system generates a first graphical representation of the current operating ability of the aerial device in response to the first signal and displays the first graphical representation on the electronic display. When the aerial device is in the second position, the computer control system generates a second graphical representation of the current operating ability of the aerial device in response to the second signal and displays the second graphical representation on the electronic display.

Abstract: A vehicle moving apparatus may include a housing extending in a first direction; an elevator coupled to the housing to be movable in the first direction and another direction opposite thereto, extending in a third direction and being inserted to be drawable into an underside space of a vehicle, and configured to lift or lower a wheel of the vehicle; and a wheel assembly coupled to the elevator and configured to move the housing and the elevator in a direction toward the vehicle or in a direction opposite the vehicle, wherein the wheel assembly includes a wheel rotatably provided with a vertical direction as an axis, and configured to movably support the elevator; and an actuator coupled to the wheel and configured to provide power for rotating the wheel, wherein the wheel is rotatable such that a diameter of the wheel is aligned between the first and third directions.

Abstract: A vehicle may include rear ground traction members, front ground traction members, a rear drive system to drive the rear ground traction members, a continuously variable speed front drive system to drive the front ground traction members and a controller. The variable speed front drive system may include a hydraulic pump, a hydraulic motor driven by the hydraulic pump and operably coupled to the front ground traction members by a planetary gear assembly. The planetary gear assembly may include a sun gear coupled to and driven by the hydraulic motor, a ring gear operably coupled to the rear ground traction members and a planet carrier carrying planet gears intermeshing between the ring gear and the sun gear. The planet carrier has an output shaft operably coupled to the front ground traction members. At least one sun brake is actuatable by the controller to retard rotation of the sun gear.

Abstract: A method for braking a compaction machine operated by an electric motor. A compaction machine, in particular a tandem roller, single-drum roller or waste compactor, for carrying out the method.

Abstract: A system for braking a host vehicle. A memory storing instructions executable by a processor includes instructions to actuate friction brakes in the host vehicle when a brake condition occurs. The brake condition includes that the host vehicle is parked on a roadway, a person is located exterior to the host vehicle, and an approaching vehicle will come within a distance threshold of the host vehicle.

Abstract: Embodiments are disclosed for improving safety with parking brake actuation. In particular, embodiments inhibit or allow parking brake commands based on an operation state of a vehicle. Further, embodiments act on parking brake commands based on a health or condition of the parking brakes themselves. An example method for autonomous operation of a vehicle includes receiving a command to apply a parking brake of the vehicle; determining a vehicle operation state based on comparing a speed of the vehicle to a range of pre-determined values; configuring an instruction for engagement of the parking brake according to the vehicle operation state; determining a brake health of the parking brake; and transmitting the instruction to the parking brake to cause the parking brake to be engaged based on the brake health satisfying one or more thresholds.

Abstract: To provide a brake system for a saddled vehicle that ensures vehicle's stable behavior when a brake operating element is operated during automatic control. A brake system for a saddled vehicle includes: a control device exerting automatic control over a brake fluid pressure; and a front-wheel brake operating element and a rear-wheel brake operating element for a driver to manually operate a front-wheel brake and a rear-wheel brake.

Abstract: To provide a brake system for a saddled vehicle that suppresses the speed at which the vehicle transitions to a front-dropping posture, thereby enhancing the driver's sense of security. A brake system for a saddled vehicle includes a control device exerting automatic control over a brake fluid pressure of a brake according to various information, and a pitch angular velocity detector for detecting a pitch angular velocity of the vehicle according to an output of a pitch angular velocity detection unit. When the pitch angular velocity becomes equal to or greater than a predetermined threshold value while the control device is gradually increasing the brake fluid pressure of the front-wheel brake by the automatic control, the control device reduces a degree of increase in the brake fluid pressure or maintains the brake fluid pressure at that time point.

Abstract: A braking system includes: brake circuits independently activated and deactivated and when activated apply braking force at respective wheels; a braking stability module detecting an issue or a failure with a first one of the brake circuits where an unexpected amount of braking torque is being applied as compared to an amount of braking torque applied at a second one of the brake circuits, and mitigating effect of the unexpected amount of braking torque on a yaw rate of the vehicle by i) adjusting the braking torque of the first one of the brake circuits, ii) adjusting braking torque of the second one of the brake circuits, and/or iii) deactivating the first one of the brake circuits and modulating braking torque of the second one of the brake circuits, to compensate for the unexpected amount of braking torque.

Abstract: A master piston for a hydraulic vehicle brake is arranged in a master cylinder of the hydraulic vehicle brake and is movable in a reciprocal manner along a master piston longitudinal axis. The master piston has at least one piston element and a seal which is injection molded onto the piston element. The master piston has at least one guide portion for guiding the master piston in the master cylinder. The guide portion is elastically deformable at least in some portions in a radial direction to the master piston longitudinal axis. The guide portion is formed at least partially from a different material from the piston element. The piston element, the seal and the guide portion are produced together by a multi-component injection molding method. A method for producing the master piston is disclosed.

Abstract: A brake bleeding system includes: a brake apply module of a wheel of a vehicle, the brake apply module including: a brake fluid reservoir; a caliper; and a pump configured to pump brake fluid from the brake fluid reservoir to the caliper; and a bleed screw; and a brake bleed module configured to, in response to user input indicative of a request to bleed air from the brake apply module, operate the pump and bleed air from the brake apply module.

Abstract: A aircraft braking system is disclosed including a plurality of brakes each for braking one of a plurality of aircraft wheels using hydraulic pressure, a first hydraulic pressure supply unit, and a second hydraulic pressure supply unit. The first hydraulic pressure supply unit is connected to only a first subset of the plurality of brakes, such that the first hydraulic pressure supply unit can enable only the first subset of the plurality of brakes to provide braking. The second hydraulic pressure supply unit is connected to only a second subset of the plurality of brakes, the second subset not including any of the brakes of the first subset, such that the second hydraulic pressure supply unit can enable only the second subset of the plurality of brakes to provide braking.

Abstract: A brake device comprises a main braking caliper body, a brake pad part including a first brake pad and a second brake pad that are arranged at one side and another side of the main braking caliper body and have first surfaces facing each other, a main braking piston pressurizing second surfaces of the first brake pad and the second brake pad to shorten a distance between the first brake pad and the second brake pad, a parking caliper body coupled to the main braking caliper body and including a locking part caught by the second surface of the first brake pad and a parking piston installed on the parking caliper body and pressuring the second surface of the second brake pad, when the parking piston pressurizes the second brake pad, the locking part of the parking caliper body moves the first brake pad toward the second brake pad.

Abstract: An apparatus for a drum brake assembly having a brake drum and an actuator includes a shoe spreader web with a first side for connecting to a first piston of the actuator and a second side for connecting to a second piston of the actuator. A first brake shoe is secured to the first side of the web. A second brake shoe is secured to the second side of the web. The brake shoes have a first condition in which the respective first and second sides of the web move the brake shoes to apply braking force to the brake drum in response to actuation of the actuator. The first brake shoe has a second condition moving relative to the web for absorbing brake drum contraction forces and prevent the full magnitude of these forces from reaching the actuator clevises.

Abstract: An electrohydraulic braking method for mobile working machines, in particular agricultural machines, is disclosed. The method is designed to detect external signals and to transmit them to a control unit, in which the signals are processed and based on which at least one target braking pressure is determined. In a next step, a valve flow is calculated on the basis of the target brake pressures, which valve flow is transmitted to a control valve of a brake actuation pedal, resulting in a braking pressure in a hydraulic circuit of the agricultural machine and the adjustment of brake steering. The disclosure further relates to a brake function arrangement designed to perform the electrohydraulic braking method.

Abstract: A brake system (10) comprising: a brake caliper (12) supporting a brake pad (14), and having a first brake piston (24) and a second brake piston (28) that are configured to move the brake pad; a first rotary to linear stage mechanism (32) connected to the first brake piston, and a second rotary to linear stage mechanism (34) connected to the second brake piston; a motor (42) configured to generate torque; a torque distributing assembly (40) configured to receive torque from the motor and then distribute the torque from the motor to the first rotary to linear stage mechanism to move the first brake piston and/or to the second rotary to linear stage mechanism to move the second brake piston; wherein the torque distributing assembly comprises: i) a first driving gear (44) connected to the first rotary to linear stage mechanism; ii) a second driving gear (46) connected to the second rotary to linear stage mechanism; iii) a first set of planet gears (72) supported on respective first axles (74); iv) a second set o

Abstract: The disclosure relates to a leak detection system for a pneumatic braking system of a vehicle. The pneumatic braking system has a control unit, a pneumatic circuit, and an air tank configured to supply pneumatic pressure to the pneumatic circuit. The pneumatic circuit has a plurality of valves configured to be individually controlled by the control unit. The link detection system includes program code configured, when executed by a processor, to individually control the valves of the pneumatic circuit so as to isolate a sub-circuit of the pneumatic circuit. The leak detection module is configured to monitor a pressure in the pneumatic circuit for leaks, wherein the leak detection module detects a leak in the sub-circuit if the pressure decreases while the sub-circuit is isolated.

Abstract: A vehicle includes an input unit, a first sensor provided to detect an input of a brake signal, a second sensor provided to detect an output of a driving motor, a driving controller provided to control the driving motor, and a main controller electrically connected to the input unit, the first sensor, the second sensor and the driving controller and configured to determine an electric power mode based on the input of the brake signal detected by the first sensor and the output of the driving motor detected by the second sensor when an input related to power off of the vehicle is received through the input unit while the vehicle is driving, wherein the main controller is configured to determine the electric power mode as an emergency mode when it is determined that the driving motor is accelerating while the input of the brake signal is being received.

Abstract: Operating an electric drive machine includes neutralizing a transmission in the electric drive machine operating in a first range, determining suitability of the electric drive machine for operating the transmission in a second range, and calculating a target transmission input speed, based on a speed parameter indicative of a transmission output speed, and the determined suitability for operating in a second range. A speed of an electric drive motor is varied based on the target transmission input speed, and a second clutch engaged to operate the transmission in the second range based on the varied speed of the electric drive motor. Related apparatus and control logic is also disclosed.

Abstract: A control device is provided for operating a road-coupled hybrid vehicle, which is equipped with an electronic control unit, a first drive unit paired with a primary axle, and a second drive unit paired with a secondary axle. The control unit is designed to receive input variables including a specified sum target creep torque and a command to switch over from the single-axle operation to the two-axle operation with a specified all-wheel factor. The control unit sets a specified target torque for an internal combustion engine of the primary axle according to the all-wheel factor and detects the resulting actual coupling torque of the automatic transmission. If the functional module of the control unit ascertains a difference between the actual coupling torque and the sum target creep torque, the functional module specifies a corresponding target torque for an electric drive motor of the secondary axle to compensate for the difference.

Abstract: A vehicle moving apparatus executes a moving control to autonomously move a vehicle by controlling a power output from an internal combustion engine and an electric motor. When the vehicle is requested to be accelerated while the moving control is not executed, the apparatus keeps the engine deactivated and activates the motor while a requested power is smaller than a first start determination value, and starts to activate the engine when the requested power reaches the first start determination value. When the vehicle is requested to be accelerated while the moving control is executed, the apparatus keeps the engine deactivated and activates the motor while the requested power is smaller than a second start determination value, and starts to activate the engine when the requested power reaches the second start determination value. The second start determination value is smaller than the first start determination value.

Abstract: Environmentally friendly electrical vehicles are presented. The electrical vehicles include electrical low speed vehicles (LSVs) that may use sensed location data to obtain one or more operational profiles. The operational profiles may govern the behavior of the LSV in a specific environment, area, or zone to ensure the LSV reduces its impact on the local terrain. The LSV may leverage locally sensed data to form a local context in which the LSV is operating. The LSV's vehicular controller may refine the operational parameters of the operational profile to ensure smooth operation based on local conditions from the local context.

Abstract: The vehicle control device includes an arbitration unit configured to arbitrate between a plurality of control commands acquired from a plurality of driving support applications that respectively implements driving support functions, configured to output instructions based on a control command after arbitration to a first control unit that is able to control a steering actuator and a second control unit that is able to control at least one of a brake actuator or a drive actuator, and configured to acquire a steering angle and a yaw rate as the control commands from the driving support applications.

Abstract: A damping control system for a vehicle having a suspension located between a plurality of ground engaging members and a vehicle frame includes at least one adjustable shock absorber having an adjustable damping profile.

Abstract: Disclosed herein are an apparatus and method for automatic parking based on recognition of a parking area environment. The method may include searching for an available parking space, determining whether reverse parking is possible by recognizing the environment of the available parking space, recognizing at least one additional vehicle located in the vicinity of the available parking space, and setting a parking destination based on the determination of whether reverse parking is possible and the result of recognition of the at least one additional vehicle.

Abstract: This application discloses a vehicle control method, apparatus, and system, and relates to the field of autonomous driving technologies. The method includes: determining a target vehicle, where the target vehicle is located in a first parking location; obtaining a topological relationship, where the topological relationship indicates an association relationship between multi-level parking locations, the multi-level parking locations include a first-level parking location and a second-level parking location, the first-level parking location includes the first parking location, and the second-level parking location includes at least one downstream parking location of the first parking location; allocating a second parking location to the target vehicle based on the topological relationship, where the second parking location is an idle parking location in the second-level parking location; and indicating the target vehicle to move from the first parking location to the second parking location.

Abstract: Provided are methods for generating a proposed trajectory for a vehicle at a remote vehicle assistance system. One or more user inputs defining the proposed trajectory may be received at the remote vehicle assistance system. The proposed trajectory may be validated for compliance with one or more constraints imposed by a motion planner of the vehicle. Examples of constraints include the proposed trajectory being within a drivable surface and not colliding with one or more objects present in a surrounding environment of the vehicle. If the remote vehicle assistance system is unable to validate the proposed trajectory, the proposed trajectory may be redrawn instead of being sent to the vehicle. Systems and computer program products are also provided.

Abstract: A vehicle controller includes a processor configured to detect a candidate object on a road surface ahead of a vehicle from an image representing surroundings of the vehicle generated by a camera provided on the vehicle, determine whether the orientation of the vehicle has deflected more than a predetermined angle, when the vehicle reaches the position of the detected candidate object, and control the vehicle to decelerate when the orientation of the vehicle has deflected more than the predetermined angle.

Abstract: A travel controller executes travel control of a vehicle including collision avoidance control, based on environmental information including control information received from a control device and environmental data outputted from an environmental sensor mounted on the vehicle, each indicating conditions around the vehicle. The travel controller regulates the speed of the vehicle when a delay time in receiving the control information exceeds a delay threshold. The travel controller sets the delay threshold to a first threshold when an estimated avoidance difficulty from the environmental information is less than a difficulty threshold; and sets the delay threshold to a second threshold less than the first threshold when the estimated avoidance difficulty is greater than the difficulty threshold.

Abstract: A method includes: receiving, by a computing device, object data regarding a first object detected by a first vehicle, the object data including an object type and a location; storing the object data; generating, based on the object data, navigation data; and sending the navigation data to a second vehicle, the navigation data for use by the second vehicle to control navigation.

Abstract: An automatic brake control apparatus to be applied to a vehicle is configured to: detect, with an ultrasonic sensor, a position of an obstacle on reverse travel of the vehicle, in which the ultrasonic sensor is disposed in a rear part of the vehicle; set a brake operation area on plane coordinates corresponding to the detected position by the ultrasonic sensor; and actuate an automatic brake. The brake operation area includes a low-speed operation area and a high-speed operation area. The low-speed operation area is set on the reverse travel at a lower speed than a setting vehicle speed, and the high-speed operation area is set on the reverse travel at a higher speed than the setting vehicle speed. The high-speed operation area is wider than the low-speed operation area at least in a vehicle widthwise direction.

Abstract: The disclosure provides a method, a system, and a computer program product for predicting an accident. The method comprises capturing one or more audio signals based on one or more sensors onboard a vehicle. The method may include extracting one or more features associated with each of the one or more audio signals. The method further includes, generating an output for predicting the accident, based on the extracted one or more features associated with each of the one or more audio signals. Further, the output comprises a predicted accident state and an associated confidence value. Also, the predicted accident state comprising at least one of: a no accident state, a pre-accident state, a light accident state, and an intense accident state.

Abstract: A driving assistance apparatus includes an electronic control unit. The electronic control unit: calculates a yaw rate change rate of a first vehicle to which the driving assistance apparatus is to be applied, based on a yaw rate of the first vehicle obtained at multiple time points; predicts a sequential position of the first vehicle as a first vehicle position assuming that the yaw rate change rate is kept constant; predicts a sequential position of a second vehicle as a second vehicle position; determines whether contact occurs, based on presence or absence of a contact position where the first vehicle position partly overlaps with the second vehicle position; and ends prediction of the first vehicle position and the second vehicle position, upon determining that no contact occurs until a prediction end time that is a time when the first vehicle turns by a setting angle.

Abstract: A method for ascertaining a direction of travel and/or a future path of travel of a robot and/or a vehicle, movable at least semiautonomously or autonomously in a dynamically changeable surrounding area.

Abstract: To provide a traveling support system and a traveling support method which can switch a rough traveling support adapted to a rough merging behavior of the merging vehicle, and a traveling support of avoiding a collision between the object vehicle and the merging vehicle, according to conditions. A traveling support system comprising: a merging supporter that supports a traveling of the object vehicle so that a traveling at a time of merging becomes smooth; a collision avoidance supporter that calculates a collision risk and supports a traveling of the object vehicle so that the collision risk decreases; and a traveling support selector that determines whether the traveling support of the merging supporter or the traveling support of the collision avoidance supporter is performed.

Abstract: A driving assistance apparatus includes an electronic control unit. The electronic control unit: calculates a yaw rate change rate of a first vehicle to which the driving assistance apparatus is to be applied, based on a yaw rate of the first vehicle obtained at multiple time points; calculates a predicted path of a second vehicle; calculates a predicted path of the first vehicle assuming that the yaw rate change rate is kept constant; calculates a provisional contact point, based on an intersection point of the predicted path of the first vehicle and the predicted path of the second vehicle; calculates a provisional contact time when the first vehicle reaches the provisional contact point; and determines whether the first vehicle and the second vehicle come into contact with each other, assuming that the first vehicle and the second vehicle at the provisional contact time travel straight to cross each other.