Abstract: The present disclosure relates to adaptive cruise control in the field of automatic driving, and discloses a vehicle control method, an apparatus, an electronic device and a storage medium. A specific implementation is: firstly, determining a target travelling scenario according to real-time monitoring data upon fulfilment of a preset update condition; then, determining a target time headway according to the target travelling scenario, where the target time headway is used to dynamically adjust a relative motion state between an host vehicle and a surrounding vehicle; and finally, controlling a vehicle according to the target time headway. It solves the problem of the prior art in overemphasizing the state of the vehicle ahead for automatic driving control while overlooking the perception of the driver or passenger of the host vehicle in the travelling scenario can prompt the driver to manually intervene, compromising the experience of the automatic driving.

Abstract: Described herein is a method of determining a current location speed limit in a road vehicle (1) speed limit information system (20). The method comprises receiving (6): one or more signals corresponding to respective candidate speed limits (7); and one or more signals related to observed vehicle dynamics affecting changes (8) in one or more vehicles (1, 5) pre and post a most recently passed anticipated speed limit change location (2). It further comprises evaluating (9) the confidence of the different candidate speed limits (7) based on the signals related to observed vehicle dynamics affecting changes (8) and validating (10a) or discarding (10b) candidate speed limits (7) based on the evaluated confidences. A signal (13) corresponding to a highest confidence validated speed limit is output.

Abstract: The technology employs a variable motion control envelope that enables an on-board computing system of a self-driving vehicle to estimate future vehicle driving behavior along an upcoming path, in order to maintain a desired amount of control during autonomous driving. Factors including intrinsic vehicle properties, extrinsic environmental influences and road friction information are evaluated. Such factors can be evaluated to derive an available acceleration model, which defines an envelope of maximum longitudinal and lateral accelerations for the vehicle. This model, which may identify dynamically varying acceleration limits that can be affected by road conditions and road configurations, may be used by the on-board control system (e.g., a planner module of the processing system) to control driving operations of the vehicle in an autonomous driving mode.

Abstract: An aspect of the disclosure provides an apparatus and a method for improving fuel efficiency of a plug-in hybrid electric vehicle. The apparatus for assisting driving of a host vehicle includes an input configured to receive an input for activation of a fuel efficiency mode; and a controller configured to: in response to receiving the input for activation of the fuel efficiency mode, determine a control factor for power distribution based on route information received from a navigation device of the host vehicle and a state of a battery, and perform power distribution based on the control factor.

Abstract: In an autonomous driving apparatus and method, the apparatus includes a sensor unit, an output unit, a memory, and a processor configured to control the autonomous driving of an ego vehicle based on a map information stored in the memory. The processor generates an actual driving trajectory and an expected driving trajectory of a surrounding vehicle around the ego vehicle based on driving information of the surrounding vehicle detected by the sensor unit and the map information and controls one or more of the driving of the ego vehicle and provides communication with an external organization, based on a state of a passenger detected by the sensor unit when an autonomous driving mode of the ego vehicle is turned off, and based on an autonomous driving risk of the ego vehicle determined based on a trajectory error between the actual driving trajectory and expected driving trajectory of the surrounding vehicle.

Abstract: Provided is a pedestrian protection apparatus. An image capturer captures a far infrared (FIR) image of an object in front of a vehicle. A sensor is mounted on a bumper of the vehicle and senses at least one of a change in acceleration and a change in pressure of the bumper caused by a collision between the vehicle and an object located in front of the vehicle. A controller determines whether or not the object is a pedestrian candidate in accordance with the FIR image captured by the image capturer, determines whether or not the pedestrian candidate is a pedestrian in accordance with at least one of the change in the acceleration and the change in the pressure sensed by the sensor, and operates a protector for pedestrian protection in response to the pedestrian candidate being identified as the pedestrian.

Abstract: A lead vehicle braking warning system includes a speed sensor, a detector, a display and an electronic controller. The speed sensor measures current speed of a host vehicle. The detector detects current speed of a lead vehicle relative to the speed of the host vehicle. The display has a braking condition display area configured to display each of a plurality of braking conditions of the lead vehicle for the operator of the host vehicle. The electronic controller is in electronic communication with the speed sensor, the detector and the display. The electronic controller determines whether or not the lead vehicle is currently decelerating and determine which one of a plurality of braking conditions is currently being experienced by the lead vehicle and display information identifying the current one of the plurality of braking conditions of the lead vehicle within the braking condition display area of the display.

Abstract: Disclosed are a driving guide system and method. The driving guide system includes an input unit configured to receive signal information from a signal controller, a memory in which a driving guide program using the signal information is embedded, and a processor configured to execute the program. When it is not possible to recognize a traffic light using a camera, the processor determines a driving behavior using the signal information and then performs autonomous driving according to the driving behavior or provides a notification to a driver.

Abstract: A travel controller includes: an information acquisition part configured to acquire braking state information of a braking device brake state, travel road information, and an ACC-ECU configured to perform travel, based on a set vehicle speed, and follow-up travel control under which the subject vehicle follows another vehicle traveling ahead thereof. After canceling activation of the travel control during the activation of the travel control, when the information acquisition part acquires travel road information showing that a travel road on which the subject vehicle is traveling is not a downhill road any longer, even if a braking performance index based on the braking state information acquired by the information acquisition part is not increased with respect to a second reference threshold, then the ACC-ECU allows the travel control activation to be resumed.

Abstract: A system for controlling an autonomous vehicle when the autonomous vehicle is outside of its operational design domain. The system includes an environment detection system, a vehicle control system, and a first electronic processor. The first electronic processor is configured to detect that an autonomous vehicle is outside of its operational design domain and send a first electronic message. The first electronic message requests that a surrounding vehicle lead the autonomous vehicle until the autonomous vehicle returns to its operational design domain or reaches a predetermined location. The electronic processor is also configured to determine a leading vehicle and control the autonomous vehicle to follow the leading vehicle until the autonomous vehicle returns to its operational design domain or reaches the predetermined location.

Abstract: A vehicle control device includes: a recognizer configured to recognize a surrounding situation of a vehicle; and a driving controller configured to control a speed and steering of the vehicle according to a recognition result of the recognizer. The driving controller is configured to stop following travel of following a front vehicle recognized by the recognizer according to a state of a target recognized by the recognizer in a traveling region through which the front vehicle has passed when the following travel is performed. The target is a regulation sign for regulating a part of a lane in which a vehicle is traveling, a regulation sign for regulating a lane, or a guiding sign for guiding a visual line of an occupant of the vehicle.

Abstract: An electronic control system is configured to control operation of a platoon including a plurality of vehicles. The electronic control system may be configured one or more of operate each of the vehicles to provide operation emulating the lowest non-platooning vehicle performance capability among the plurality of vehicles of the platoon, operate an individualized predictive cruise control (IPCC) process for each of the vehicles and a corresponding supervisory safety process for the platoon, and operate a cooperative predictive cruise control (CPCC) process for each of the vehicles and a corresponding supervisory safety process for the platoon.

Abstract: A mobile charging station generating electricity by an Enclosed Photovoltaic Device and electromagnetic energy receiving unit, mounted on top of an Electric Vehicle Platform or chassis, housing a power storage system, inverters, power outlets and wireless power transmitters to provide electricity to the electric vehicle platform and other electric vehicles. This mobile charging station is configured to be autonomously driven to any location where vehicles can be recharged at any time.

Abstract: A method for ascertaining a highly accurate piece of yaw rate information for controlling a vehicle is provided. The method includes ascertaining a first yaw rate estimated value of the vehicle based on a fusion of sensor data of an inertial sensor, a GNSS sensor, a wheel velocity sensor and/or a steering angle sensor; ascertaining a second yaw rate estimated value of the vehicle by an evaluation of sensor data of a camera assigned to the vehicle, which optically detects the surroundings of the vehicle; carrying out a correction of the first yaw rate estimated value with the aid of the second yaw rate estimated value to ascertain a corrected yaw rate estimated value; and outputting the corrected yaw rate estimated value as a piece of yaw rate information to generate a control signal for controlling the vehicle.

Abstract: The present disclosure relates to a vehicle and control method thereof, to a vehicle having a driver assistance system for assisting a driver. When a lane change is requested even though it does not meet the predetermined lane change condition, present disclosure provides a vehicle driver assistance system (ADAS) that can actively indicate a lane change intention to an adjacent vehicle through ‘deflected driving in a lane’ and perform lane change safely after confirming the yield/overtake intention of the adjacent vehicle.

Abstract: A display device included in a vehicle includes: a communication unit, a display; and a control unit. The communication unit can receive vehicle travel information. The processor can calculate a speed range based on the received vehicle driving information and control the display to display a graphic object representative of the calculated speed range on the display.

Abstract: A vehicle, system and method for operating the vehicle is disclose. The system includes a radar system and a processor. The radar system locates a gap between targets in a second lane adjoining a first lane, with the host vehicle residing in the first lane. The processor is configured to determine a viability value of the gap for a lane change, select the gap based on the viability value, align the host vehicle with the selected gap, and merge the host vehicle from the first lane into the selected gap in the second lane.

Abstract: A system includes a processor and a memory storing instructions executable by the processor to select a distance based on a determination of whether a lane adjacent a primary vehicle and a secondary vehicle in front of the primary vehicle is clear. The instructions include instructions to actuate a braking system of the primary vehicle when the primary vehicle is at the distance from the secondary vehicle.

Abstract: An apparatus for controlling a lane change of a vehicle includes: a sensor to sense an external vehicle, an input device to receive a lane change command from a driver of the vehicle, and a control circuit to be electrically connected with the sensor and the input device. The control circuit may receive the lane change command using the input device, calculate a minimum operation speed for lane change control, and determine whether to accelerate the vehicle based on a distance between a preceding vehicle which is traveling on the same lane as the vehicle and the vehicle, when a driving speed of the vehicle is lower than the minimum operation speed when receiving the lane change command.

Abstract: A vehicle control device comprises a processor configured to determine a target merge location where the vehicle is to make a lane change from a merging lane to a main lane, in a merge zone on a scheduled route where the merging lane merges with the main lane, as a location that is before the location at the minimum distance to the end point of the merging lane allowing the driver to whom control of the vehicle has been handed over to operate the vehicle for the lane change, and when the vehicle has not completed the lane change upon reaching the target merge location, give the driver a first notification notifying that control of the vehicle will be switched from automatic control to manual control, by using a notifying unit that notifies the driver of information, or by using a vehicle controlling device that controls operation of the vehicle to perform a predetermined operation of the vehicle.

Abstract: A reinforcement learning method executed by a computer includes calculating a degree of risk for a state of a controlled object at a current time point with respect to a constraint condition related to the state of the controlled object, the degree of risk being calculated based on a predicted value of the state of the controlled object at a future time point, the predicted value being obtained from model information defining a relationship between the state of the controlled object and a control input to the controlled object; and determining the control input to the controlled object at the current time point, from a range defined according to the calculated degree of risk so that the range becomes narrower as the calculated degree of risk increases.

Abstract: Provided is a vehicle braking support device. The braking support device includes: detection units for detecting a state around a host vehicle; a braking support control unit for executing braking support by a braking device according to the detected state; and a vehicle stop control unit for maintaining a stopped state of a host vehicle after the host vehicle is stopped by the braking support control unit, and for releasing the stopped state of the host vehicle after a predetermined period has elapsed. The vehicle stop control unit, in a case where by using the detected state it is determined that it is desirable to maintain the stopped state of the host vehicle beyond the predetermined period, the vehicle stop control unit does not release the stopped state of the host vehicle until an operation by a driver is detected.

Abstract: An apparatus for controlling a lane change of a vehicle includes: a sensor to sense an external vehicle, an input device to receive a lane change command from a driver of the vehicle, and a control circuit to be electrically connected with the sensor and the input device. The control circuit may receive the lane change command using the input device, calculate a minimum operation speed for lane change control, and determine whether to accelerate the vehicle based on a distance between a preceding vehicle which is traveling on the same lane as the vehicle and the vehicle, when a driving speed of the vehicle is lower than the minimum operation speed when receiving the lane change command.

Abstract: A gaze estimation method includes receiving, by a processor, input data including a current image and a previous image each including a face of a user, determining, by the processor, a gaze mode indicating a relative movement between the user and a camera that captured the current image and the previous image based on the input data, and estimating, by the processor, a gaze of the user based on the determined gaze mode, wherein the determined gaze mode is one of a plurality of gaze modes comprising a stationary mode and a motion mode.

Abstract: An apparatus and a method for controlling vehicle driving are provided. The apparatus includes a sensor that detects a first steering angle and a lane of a first vehicle and senses a second vehicle traveling in an opposite lane. A communication device receives a second steering angle of the second vehicle and a controller determines whether the first steering angle and the second steering angle are changed. The controller determines which of the vehicles enters a curved road based on a determination result and operates the vehicle which does not enter the curved road to decelerate.

Abstract: A method for the automatic control of the longitudinal dynamics of a vehicle is provided by which vehicles traveling ahead are detected. If an upcoming traffic jam is detected, the vehicle is decelerated until a predefined distance behind the tail end of the traffic jam is reached. When the predefined distance from the traffic jam tail end has been reached, the vehicle automatically controlled in its longitudinal dynamics is able to close the remaining, predefined distance to the traffic jam tail end at a low differential velocity in comparison to the velocity of the traffic jam tail end. Using an additional rear sensor system that senses trailing vehicles, the controlled vehicle is made to close the distance to the traffic jam tail end only if a trailing vehicle was detected.

Abstract: A vehicle speed control device 1 mounted in a vehicle comprises: a forward detection unit 121 that obtains the amount of time until a vehicle Vb to be overtaken that is traveling to the side of a host vehicle Va, in which the vehicle speed device 1 is mounted, is overtaken; a rearward detection unit 122 that obtains the amount of time until the distance between the host vehicle Va and a following vehicle Vc traveling rearward of the host vehicle Va reaches a prescribed rearward distance; and a speed control unit 123 that increases the speed of the host vehicle Va when the time until overtaking occurs is greater than the time until the prescribed rearward distance is reached.

Abstract: A driving system for a motor vehicle includes a first driving function for automated driving with automated longitudinal and transverse guidance and a second driving function for automated driving with at least automated longitudinal guidance or with at least automated transverse guidance. The second driving function has a lower level of automation. The first driving function is available for activation in a first admissibility range defined by a lower and/or upper limit for a driving parameter. The driver uses a first input component to prescribe a driver nominal value preset for the driving parameter that is in the first admissibility range. In response, the current driving behavior of the active second driving function is adapted. The driving system then establishes that the driving parameter satisfies a first criterion for the first admissibility range. The first driving function is then activated.

Abstract: An apparatus for controlling a lane change of a vehicle includes: a sensor to sense an external vehicle, an input device to receive a lane change command from a driver of the vehicle, and a control circuit to be electrically connected with the sensor and the input device. The control circuit may receive the lane change command using the input device, calculate a minimum operation speed for lane change control, and determine whether to accelerate the vehicle based on a distance between a preceding vehicle which is traveling on the same lane as the vehicle and the vehicle, when a driving speed of the vehicle is lower than the minimum operation speed when receiving the lane change command.

Abstract: A vehicle lane change control apparatus includes a condition information acquisition unit that acquires condition information of an occupant of a vehicle, a lane change rate database unit that stores a lane change rate that is determined based on a lane change pattern of a driver analyzed based on driving information when a lane of the vehicle is changed and road condition information when the lane of the vehicle is changed and indicates a speed of the lane change, and a control unit that changes the lane of the vehicle through steering control according to operation information of the vehicle, and based on the condition information of the occupant acquired by the condition information acquisition unit, controls the lane change of the vehicle by selectively using the lane change rate and a corrected lane change rate determined by increasing or decreasing the lane change rate.

Abstract: Disclosed are techniques for performing lane instance recognition. Lane instances are difficult to recognize since they are long and elongated, and they also look different from view to view. An approach is proposed in which local mask segmentation lane estimation and global control points lane estimation are combined.

Abstract: The present technology relates to an image processing device, an image processing method, and an image provision system that enable simultaneous grasping of an image viewed by a counterpart and a position of the counterpart in a virtual space. An HMD receives a viewpoint image of a user that is an image viewed from a viewpoint of the user in a virtual space, a viewpoint image of another user viewed from a viewpoint of the another user, viewpoint position information indicating a position of the another user, and line-of-sight information indicating a line-of-sight direction of the another user. A display control unit controls display of the viewpoint image of the another user to be superimposed on the viewpoint image of the user on the basis of a positional relationship of the user and the another user in the virtual space determined using the viewpoint position information and the line-of-sight information of the another user. The present technology can be applied to a model room preview system.

Abstract: Systems and methods are provided for controlling a vehicle. In one embodiment, a method includes: storing, in a data storage device, a decision model, wherein the decision model predicts when to automatically perform a motivational lane change; updating, by a processor, the decision model based on data obtained in response to user input; and automatically requesting, by the processor, a lane change based on the dynamically updated model.

Abstract: A system includes a processor and a memory. The memory stores instructions executable by the processor to, upon determining that a first fluid level in a vehicle container is below a threshold based on fluid level sensor data, determine a second fluid level based on a fluid consumption signal and the fluid level sensor, and to navigate the vehicle based on the determined second fluid level.

Abstract: A vehicle control device includes: a recognizer configured to recognize a surrounding situation of a vehicle; and an action controller configured to control an action of the vehicle. The action controller is configured to specify a first vehicle in front of a region which the vehicle is scheduled to enter and a second vehicle behind the region according to inter-vehicle distances between a plurality of vehicles located in front of or on the side of the vehicle in a lane of a route changing destination recognized by the recognizer when a route of the vehicle is changed to a side. The action controller is configured to cause the vehicle to move to a vicinity of the specified first and second vehicles in a lane in which the vehicle is traveling.

Abstract: An apparatus for controlling a lane change of a vehicle includes: a sensor to sense an external vehicle, an input device to receive a lane change command from a driver of the vehicle, and a control circuit to be electrically connected with the sensor and the input device. The control circuit may receive the lane change command using the input device, calculate a minimum operation speed for lane change control, and determine whether to accelerate the vehicle based on a distance between a preceding vehicle which is traveling on the same lane as the vehicle and the vehicle, when a driving speed of the vehicle is lower than the minimum operation speed when receiving the lane change command.

Abstract: Systems, devices, products, apparatuses, and/or methods for generating a driving path for an autonomous vehicle on a roadway by determining one or more prior probability distributions of one or more motion paths for one or more objects that have previously moved in a geographic location and/or for controlling travel of an autonomous vehicle on a roadway by predicting movement of a detected object according to one or more prior probability distributions of one or more motion paths for one or more objects that have previously moved in a geographic location.

Abstract: A device, method, and processor readable storage medium for controlling travel of a vehicle. The device includes a processor and a controller; the processor is configured to set a speed curve of the vehicle according to a relative speed and distance between the vehicle and the front subject, and the controller is configured to control the vehicle to travel according to the set speed curve.

Abstract: A vehicle system comprising a plurality of subsystems, each of the plurality of subsystems configured to perform at least a portion of at least one of a plurality of functions. The plurality of functions are organized in a hierarchy of functions including complex higher order functions and simpler lower order functions. The vehicle system further comprises an advanced computing module configured to control the plurality of subsystems in order to perform a higher order function and a lower order function that supports the higher order function. The advanced computing module comprises software instructions including a first gate point. The first gate point may be activated to prevent the advanced computing module from performing the higher order function.

Abstract: A driving support device includes: an acquisition unit that acquires a lateral position, lateral velocity, and lateral acceleration of another vehicle; a first determination unit that, based on the lateral position and lateral velocity of the other vehicle, determines that the other vehicle is moving toward an own lane; a second determination unit that, when the first determination unit determines the movement of the other vehicle, determines whether the lateral acceleration of the other vehicle has increased to a negative side in the own lane; and a driving support unit that, when the first determination unit determines that the other vehicle is moving toward the own lane and the second determination unit does not determine that the lateral acceleration of the other vehicle has increased to the negative side, does not set the other vehicle as a target vehicle of the driving support.

Abstract: A vehicle driving assist apparatus includes an first calculator to calculate a degree of acceleration suppression, a controller to suppress target acceleration based on the degree of acceleration suppression, a map information storage to store road map information, an estimator to estimate a vehicle position and identify a traveling lane on the road map information, a detector to detect whether there is a crossing road ahead of the identified traveling lane, and a second calculator to calculate an azimuth angle difference between an azimuth of the crossing road where the own vehicle is about to turn and an azimuth in the traveling direction of the own vehicle. The acceleration suppression degree calculator makes a degree of acceleration suppression for suppressing the acceleration of the own vehicle higher then an azimuth angle difference becomes narrower based on the azimuth angle difference.

Abstract: A three-dimensional information processing method includes: obtaining, via a communication channel, map data that includes first three-dimensional position information; generating second three-dimensional position information from information detected by a sensor; judging whether one of the first three-dimensional position information and the second three-dimensional position information is abnormal by performing, on one of the first three-dimensional position information and the second three-dimensional position information, a process of judging whether an abnormality is present; determining a coping operation to cope with the abnormality when one of the first three-dimensional position information and the second three-dimensional position information is judged to be abnormal; and executing a control that is required to perform the coping operation.

Abstract: According to an embodiment, an information processing device is used for controlling a mobile object. The device includes one or more hardware processors configured to: generate risk information indicating a level of a risk that is caused when the mobile object moves, based at least in part on a position of an obstacle with respect to the mobile object, the risk being indicated for each of a plurality of areas; and generate condition information indicating a condition for performing a countermeasure operation for a risk in accordance with the risk information.

Abstract: A vehicle control device to be installed in a vehicle includes a self-driving controller and a calculator. The self-driving controller is configured to set a target vehicle speed and a target steering angle to allow the vehicle to trace a predetermined target travel locus. The self-driving controller is configured to control the vehicle based on the target vehicle speed and the target steering angle. The calculator is configured to calculate a deviation between an index of an actual vehicle behavior and an index of a reference vehicle behavior. The self-driving controller corrects one or both of the target vehicle speed and the target steering angle in accordance with an increase of the deviation, so as to stabilize the vehicle.

Abstract: Disclosed are various techniques to optimize load delivery management of multiple vehicles along route. The optimization can involve evaluating vehicle-in-front information along with look ahead data to determine a recommended speed target and/or idle stop times and durations. The optimization can also involve determining bottleneck conditions from one or more vehicles and/or one or more infrastructure conditions and providing one or more recommended actions in response thereto.

Abstract: A phase Doppler radar system may comprise a pulse Doppler receiver/transmitter (R/T) subsystem coupled with a processing subsystem. The system may determine target velocity and target detection events by collecting pulses from the pulse Doppler R/T subsystem, determine an undifferentiated phase of each of the pulses, differentiate the pulses, and determine a differentiated phase of each of the pulses. The system may perform a linear fit of the differentiated phases of the pulses to produce a slope and an intercept. The system may determine a set of initial estimates of coefficients of a nonlinear fit equation. The system may perform iterations of a nonlinear least squares fit, beginning with the initial coefficient estimates, to produce a non-linear fit result. The system may determine a goodness-of-fit (GoF) statistic associated with the nonlinear fit result, and declare a detection event when the GoF is superior to a GoF statistic associated Gaussian noise.

Abstract: A method for the assisted, partially automated, highly automated, fully automated or driverless driving of a motorized transportation vehicle including at least one control unit for planning the navigation and trajectory of an assisted, partially automated, highly automated, fully automated or driverless journey of the motorized transportation vehicle and multiple subsystems, wherein the subsystems implement transportation vehicle movement dynamics requirements of the control unit or supply environmental data, wherein at least one subsystem is assigned a monitoring function by which the functionality of the subsystem is determined, wherein the monitoring function transmits a currently possible performance capability to the control unit which adapts the planning of the navigation and trajectory in accordance with the transmitted performance capability so that, despite a reduced performance capability, the assisted, partially automated, highly automated, fully automated or driverless journey can be continued.

Abstract: Unfortunately, even when a new area, which cannot be recognized from the parking start position, is detected in the surrounding area as the vehicle travels on the parking route, the new area cannot be used effectively as the parking route. In step S304, when there is an area for extending the parking route in the newly detected area, the route is determined to be extensible. In step S305, it is determined whether the vehicle can be parked with one turnabout without extending the route, and when it is determined that the vehicle cannot be parked with one turnabout, the process proceeds to step S307 to perform the route extension process. When the posture of the vehicle at the turning point does not exceed a predetermined value in step S306, the process also proceeds to step S307.

Abstract: The invention obtains a controller and a control method capable of appropriately assisting with an operation by a driver while preventing a motorcycle from falling over. In the controller and the control method according to the invention, in a control mode to make the motorcycle perform an automatic cruise deceleration operation, automatic deceleration that is deceleration of the motorcycle generated by the automatic cruise deceleration operation is controlled in accordance with a lean angle of the motorcycle.

Abstract: An ACC function for performing constant speed cruise according to a target speed when there is no preceding other vehicle in a vehicle's driving lane and performing following cruise by maintaining a predetermined inter-vehicle distance when there is a preceding other vehicle, an LKA function for maintaining cruise, an override function for stopping the ACC function and the LKA function by a driver's operation intervention, and a fallback function for performing fallback control of the ACC function and/or the LKA function, with notifying the driver of stopping the ACC function and/or the LKA function and operation takeover, at a time of system operational design domain deviation of the ACC function and/or the LKA function, override threshold values of the functions serving as a determination criterion of the operation intervention for stopping the ACC function and/or the LKA function at the time of system operational design domain deviation are configured to be altered to a value greater than during normal ope