Abstract: An apparatus includes at least one camera configured to capture an image of a traffic lane in front of a vehicle. The apparatus also includes a vehicle behavior prediction controller configured to determine lane boundaries and road curvature for a segment of a traffic lane occupied by the vehicle from the captured image and prior captured images; determine lateral distances of the vehicle from the lane boundaries and a rate of departure of the vehicle from the occupied traffic lane that is accurate for the determined road curvature; determine a time to line crossing for the vehicle from the lateral distances and the rate of departure; and activate a lane departure warning indicator based on the determined time to line crossing.

Abstract: An apparatus includes at least one camera configured to capture at least one image of a traffic lane, an inertial measurement unit (IMU) configured to detect motion characteristics, and at least one processor. The at least one processor is configured to obtain a vehicle motion trajectory using the IMU and based on one or more vehicle path prediction parameters, obtain a vehicle vision trajectory based on the at least one image, wherein the vehicle vision trajectory includes at least one lane boundary, determine distances between one or more points on the vehicle and one or more intersection points of the at least one lane boundary based on the obtained vehicle motion trajectory, determine at least one time to line crossing (TTLC) based on the determined distances and a speed of the vehicle, and activate a lane departure warning indicator based on the determined at least one TTLC.

Abstract: A method includes obtaining sensor data associated with a target object at an ego vehicle, where the sensor data includes image data within an image frame. The method also includes identifying a first longitudinal distance of a first point of the target object from the ego vehicle within a world frame. The method further includes identifying a first lateral distance of the first point of the target object from the ego vehicle within the world frame using a first normalization ratio that is based on the image data. The method also includes predicting a future path of the target object based on the first longitudinal distance and the first lateral distance. In addition, the method includes controlling at least one operation of the ego vehicle based on the predicted future path of the target object.

Abstract: A method includes obtaining sensor data associated with a target object at an ego vehicle, where the sensor data includes image data within an image frame. The method also includes identifying a first longitudinal distance of a first point of the target object from the ego vehicle within a world frame. The method further includes identifying a first lateral distance of the first point of the target object from the ego vehicle within the world frame using a first normalization ratio that is based on the image data. The method also includes predicting a future path of the target object based on the first longitudinal distance and the first lateral distance. In addition, the method includes controlling at least one operation of the ego vehicle based on the predicted future path of the target object.

Abstract: An apparatus includes at least one camera configured to capture at least one image of a traffic lane, an inertial measurement unit (IMU) configured to detect motion characteristics, and at least one processor. The at least one processor is configured to obtain a vehicle motion trajectory using the IMU and based on one or more vehicle path prediction parameters, obtain a vehicle vision trajectory based on the at least one image, wherein the vehicle vision trajectory includes at least one lane boundary, determine distances between one or more points on the vehicle and one or more intersection points of the at least one lane boundary based on the obtained vehicle motion trajectory, determine at least one time to line crossing (TTLC) based on the determined distances and a speed of the vehicle, and activate a lane departure warning indicator based on the determined at least one TTLC.

Abstract: An apparatus includes at least one camera configured to capture an image of a traffic lane in front of a vehicle. The apparatus also includes a vehicle behavior prediction controller configured to determine lane boundaries and road curvature for a segment of a traffic lane occupied by the vehicle from the captured image and prior captured images; determine lateral distances of the vehicle from the lane boundaries and a rate of departure of the vehicle from the occupied traffic lane that is accurate for the determined road curvature; determine a time to line crossing for the vehicle from the lateral distances and the rate of departure; and activate a lane departure warning indicator based on the determined time to line crossing.

Abstract: In one aspect, a power system comprises a power bus, a plurality of energy-storage modules, and a controller. Each energy-storage module is coupled to the power bus and comprises an energy-storage device configured to store energy, an electrical circuit safety device configured to detect safe power conditions in the energy-storage module and break an electrical circuit within the energy-storage module based on a detection of unsafe power conditions in the energy-storage module, and a switch configured to selectively couple the energy-storage device to the power bus. The controller is configured to monitor a state of each of the plurality of energy-storage modules and control a state of the power system based on the state of each of the plurality of energy-storage modules.

Abstract: In one aspect, a power system comprises a power bus, a plurality of energy-storage modules, and a controller. Each energy-storage module is coupled to the power bus and comprises an energy-storage device configured to store energy, an electrical circuit safety device configured to detect safe power conditions in the energy-storage module and break an electrical circuit within the energy-storage module based on a detection of unsafe power conditions in the energy-storage module, and a switch configured to selectively couple the energy-storage device to the power bus. The controller is configured to monitor a state of each of the plurality of energy-storage modules and control a state of the power system based on the state of each of the plurality of energy-storage modules.