Abstract: A method of determining whether a planned trajectory of a first vehicle over a road along which the first vehicle and a second vehicle are traveling, is invalid, comprising: obtaining the planned trajectory, comprising a first state of the first vehicle for each of a plurality of time instants; obtaining a second state of the second vehicle for each time instant; determining, for each time instant, a respective lateral range extending from the second vehicle; and determining that the planned trajectory is invalid where, for the first and second states at one or more of the time instants: the first vehicle is within the lateral range and within a lane boundary region of the road; and a direction of a lateral velocity of the first vehicle is towards the second vehicle and a lateral acceleration of the first vehicle away from the second vehicle is smaller than a predetermined threshold.

Abstract: A method of determining a target lateral acceleration of a vehicle for use in autonomous control of the vehicle to drive along a road, comprising: evaluating each of a plurality of scalar velocity functions at a plurality of key lateral positions predefined with respect to a model of the road to generate a respective set of scalar velocity values; combining the velocity values calculated for each key lateral position to generate a respective target lateral velocity value, the velocity values calculated for each of the key lateral positions being combined by adding the greatest of zero and the velocity values, to the smallest of zero and the velocity values; generating a lateral velocity field by interpolating between the target lateral velocity values; and determining the target lateral acceleration of the vehicle using the lateral velocity field and a measured lateral velocity of the vehicle.

Abstract: A composite body and a method for producing an integrally cast composite body, which includes at least two zones. A first zone is substantially formed of metal material, and, a second zone additionally includes a non-metallic reinforcing material, such as cement carbide. The composite body is particularly useful for producing products which have at least one wear resistant zone or surface.

Abstract: The invention relates to an emissions control device for a combustion engine aftertreatment arrangement, the emissions control device comprising: a housing configured for accommodating an emissions control substrate; and at least one first opening in the housing, which at least one first opening is configured for receiving a threaded assembling element, which threaded assembling element is configured for assembly of the emissions control device in a cavity of the aftertreatment arrangement. The emissions control device further comprises at least one second opening in the housing, wherein the at least one second opening is provided with a thread, configured for receiving a threaded disassembling element, which threaded disassembling element is configured for disassembly of the emissions control device from the cavity of the aftertreatment arrangement. The invention further relates to a combustion engine aftertreatment arrangement for a vehicle and a method for disassembling an emissions control device.

Abstract: A method of setting a target longitudinal acceleration of a vehicle travelling along a road behind a leading vehicle, comprising: determining a lateral position of the leading vehicle; defining a lateral range extending from the leading vehicle and having a first subrange, a second subrange and a central subrange therebetween, wherein the lateral range increases with lateral distance of the leading vehicle from a centre of a lane in which the leading vehicle is located when the leading vehicle is changing lanes; determining a longitudinal range extending behind the leading vehicle; and setting the target longitudinal acceleration, for any longitudinal position of the host vehicle within the longitudinal range, to: a first value if a lateral position of the host vehicle is within the central subrange; and a second value greater than the first value if the lateral position is within the first or second subrange.

Abstract: A method of determining whether a planned trajectory of a first vehicle over a road along which the first vehicle and a second vehicle are traveling, is invalid, comprising: obtaining the planned trajectory, comprising a first state of the first vehicle for each of a plurality of time instants; obtaining a second state of the second vehicle for each time instant; determining, for each time instant, a respective lateral range extending from the second vehicle; and determining that the planned trajectory is invalid where, for the first and second states at one or more of the time instants: the first vehicle is within the lateral range and within a lane boundary region of the road; and a direction of a lateral velocity of the first vehicle is towards the second vehicle and a lateral acceleration of the first vehicle away from the second vehicle is smaller than a predetermined threshold.

Abstract: A method of determining a target lateral acceleration of a vehicle for use in autonomous control of the vehicle to drive along a road, comprising: evaluating each of a plurality of scalar velocity functions at a plurality of key lateral positions predefined with respect to a model of the road to generate a respective set of scalar velocity values; combining the velocity values calculated for each key lateral position to generate a respective target lateral velocity value, the velocity values calculated for each of the key lateral positions being combined by adding the greatest of zero and the velocity values, to the smallest of zero and the velocity values; generating a lateral velocity field by interpolating between the target lateral velocity values; and determining the target lateral acceleration of the vehicle using the lateral velocity field and a measured lateral velocity of the vehicle.

Abstract: The invention relates to an emissions control device for a combustion engine aftertreatment arrangement, the emissions control device comprising: a housing configured for accommodating an emissions control substrate; and at least one first opening in the housing, which at least one first opening is con figured for receiving a threaded assembling element, which threaded assembling element is configured for assembly of the emissions control device in a cavity of the aftertreatment arrangement. The emissions control device further comprises at least one second opening in the housing, wherein the at least one second opening is provided with a thread, configured for receiving a threaded disassembling element, which threaded disassembling element is configured for disassembly of the emissions control device from the cavity of the aftertreatment arrangement. The invention further relates to a combustion engine aftertreatment arrangement for a vehicle and a method for disassembling an emissions control device.

Abstract: A distributor plate assembly for a vertical shaft impact (VSI) crusher is optimized for abrasion wear resistance. The distributor plate includes a plurality of plate segments, each segment being formed from a main body of ductile iron alloy having cemented carbide granules embedded within the iron alloy.

Abstract: The present invention concerns a composite iron-based powder mix suitable for soft magnetic applications such as inductor cores. The present invention also concerns a method for producing a soft magnetic component and the component produced by the method.

Abstract: A distributor plate assembly for a vertical shaft impact (VSI) crusher is optimized for abrasion wear resistance. The distributor plate includes a plurality of plate segments, each segment being formed from a main body of ductile iron alloy having cemented carbide granules embedded within the iron alloy.

Abstract: A method may comprise emitting electromagnetic radiation onto a workpiece and storing data describing geometrical elements in a pattern. The electromagnetic radiation may be focused and/or reflected in a first direction, and a power level of the electromagnetic radiation may be modulated according to the stored data. A guiding rail may be moved in the first direction and a carriage may be moved in a second direction, each in one of a continuous and stepwise manner. The second direction may be substantially perpendicular to the first direction. A pattern may be exposed on the workpiece.

Abstract: A method may comprise emitting electromagnetic radiation onto a workpiece and storing data describing geometrical elements in a pattern. The electromagnetic radiation may be focused and/or reflected in a first direction, and a power level of the electromagnetic radiation may be modulated according to the stored data. A guiding rail may be moved in the first direction and a carriage may be moved in a second direction, each in one of a continuous and stepwise manner. The second direction may be substantially perpendicular to the first direction. A pattern may be exposed on the workpiece.

Abstract: A method may comprise emitting electromagnetic radiation onto a workpiece and storing data describing geometrical elements in a pattern. The electromagnetic radiation may be focused and/or reflected in a first direction, and a power level of the electromagnetic radiation may be modulated according to the stored data. A guiding rail may be moved in the first direction and a carriage may be moved in a second direction, each in one of a continuous and stepwise manner. The second direction may be substantially perpendicular to the first direction. A pattern may be exposed on the workpiece.