Abstract: A system for a vehicle includes a plurality of sensors onboard the vehicle and a controller. A first sensor of the plurality of sensors is configured to detect lane markings on a roadway. The controller is configured to store data from the plurality of sensors. In response to receiving an indication indicating a misdetection of lane markings on the roadway based on data received from the first sensor, the controller is configured to execute in parallel a plurality of procedures configured to detect a plurality of causes for the misdetection of lane markings, respectively, based on the stored data; isolate one of the causes as a root cause for the misdetection of lane markings; and provide a response for mitigating the misdetection of lane markings on the roadway based on the root cause for the misdetection of lane markings.

Abstract: A vehicle and a system and method for operating the vehicle. The system includes a sensor and a processor. The sensor is configured to obtain raw data of a road actor in an environment. The processor is configured to determine a current behavior of the road actor from the raw data, wherein the current behavior is in response to an environmental state, determine the environmental state based on the current behavior of the road actor, plan a driving policy for the vehicle based on the environmental state, and actuate a movement of the vehicle according to the driving policy.

Abstract: A system comprises a processor and a memory storing instructions which when executed by the processor configure the processor to estimate a rack force for a steering system of a vehicle based on current driving and environmental conditions and estimate a health of an actuator of the steering system of the vehicle. The instructions configure the processor to estimate maximum achievable angle, velocity, and acceleration for the actuator of the steering system based on the estimated rack force and the estimated health of the actuator. The instructions configure the processor to provide to the steering system a path planned for the vehicle based on the estimated maximum achievable angle, velocity, and acceleration for the actuator of the steering system.

Abstract: A system according to the present disclosure includes an actuator control module and a damping ratio module. The actuator control module is configured to control an actuator of a vehicle to cause the vehicle to perform a yaw maneuver by rotating about its yaw axis. The damping ratio module is configured to determine a damping ratio based on an operating parameter measured during the yaw maneuver. The operating parameter includes at least one of a yaw rate of the vehicle, a yaw rate of a trailer connected to the vehicle, a lateral acceleration of the vehicle, a lateral acceleration of the trailer, a heading angle of the vehicle, and a hitch angle between a longitudinal axis of the vehicle and a longitudinal axis of the trailer.

Abstract: A perception system includes a perception module configured to capture first sensor data that includes data from at least one of an external sensor and a camera captured in a first period, a prediction module configured to receive the first sensor data, generate, based on the first sensor data, predicted sensor data for a second period subsequent to the first period, receive second sensor data for the second period, and output results of a comparison between the predicted sensor data and the second sensor data, and a diagnostic module configured to selectively identify a fault in the perception system based on the results of the comparison.

Abstract: A vehicle, and a system and method of navigating the vehicle. The system includes a camera and a processor. The camera obtains an image of a road upon which the vehicle is moving. The processor is configured to extract a feature of the road from the image, perform a lane detection algorithm to detect a set of lane markers in the road using the image and the feature, and move the vehicle along the road by tracking the set of lane markers.

Abstract: A vehicle, system method for operating the vehicle is disclosed. The system includes a camera and a processor. The camera is configured to obtain a camera image of a road segment. The processor determines a location of a road edge for the road segment within the camera image, obtains a lane attribute for the road segment, generates a virtual lane mark for the road segment based on the road edge and the lane attribute, and moves the vehicle along the road segment by tracking the virtual lane mark.

Abstract: A vehicle and a system method of operating the vehicle is disclosed. The system includes a monitoring module and a mitigation module operating on a processor. The monitoring module is configured to measure a degradation in an operation parameter of the vehicle, the vehicle operating in a first state based on a first value of a set of adaptive parameters. The mitigation module is configured to determine a threat to the vehicle due to operating the vehicle in the first state with the degradation in the operation parameter and adjust the set of adaptive parameters from the first value to a second value that mitigates the threat to the vehicle, wherein the processor operates the vehicle in a second state based on the second value.

Abstract: A motor vehicle motion control health monitoring system includes sensors and actuators disposed on the motor vehicle. The sensors measure real-time static and dynamic telemetry data about the motor vehicle, and the actuators alter static and dynamic behavior of the motor vehicle. A control module has a processor, a memory, and input/output (I/O) ports. The processor executes program code portions stored in the memory, the program code portions include: an offline portion that collects telemetry data from the motor vehicle, performs failure analysis on the telemetry data and allocates tasks based on the failure analysis; and an online portion that analyzes the telemetry data for failures within specific sensors, actuators, or functions that utilize systems of sensors and/or actuators. The online portion mitigates deviations in the telemetry data by sending a correction to the one or more sensors, actuators, and/or functions of a motor vehicle motion control system.

Abstract: A system for a vehicle includes a plurality of sensors onboard the vehicle and a controller. A first sensor of the plurality of sensors is configured to detect lane markings on a roadway. The controller is configured to store data from the plurality of sensors. In response to receiving an indication indicating a misdetection of lane markings on the roadway based on data received from the first sensor, the controller is configured to execute in parallel a plurality of procedures configured to detect a plurality of causes for the misdetection of lane markings, respectively, based on the stored data; isolate one of the causes as a root cause for the misdetection of lane markings; and provide a response for mitigating the misdetection of lane markings on the roadway based on the root cause for the misdetection of lane markings.

Abstract: A vehicle and a system method of operating the vehicle is disclosed. The system includes a monitoring module and a mitigation module operating on a processor. The monitoring module is configured to measure a degradation in an operation parameter of the vehicle, the vehicle operating in a first state based on a first value of a set of adaptive parameters. The mitigation module is configured to determine a threat to the vehicle due to operating the vehicle in the first state with the degradation in the operation parameter and adjust the set of adaptive parameters from the first value to a second value that mitigates the threat to the vehicle, wherein the processor operates the vehicle in a second state based on the second value.

Abstract: A comparing module receives first data regarding surroundings of a vehicle from a plurality of sensors in the vehicle, receives second data regarding the surroundings from the plurality of sensors after receiving the first data, compares the first data to the second data, and determines a first difference between the first data and the second data based on the comparison of the first data to the second data. A perception module generates a first set of perception results based on the first data, generates a second set of perception results based on the second data, and determines a second difference between the first data and the second data based on the first set of perception results and the second set of perception results. A diagnostics module determines whether one of the sensors or the perception module is faulty based on a combination of the first difference and the second difference.

Abstract: A system comprises a processor and a memory storing instructions which when executed by the processor configure the processor to estimate a rack force for a steering system of a vehicle based on current driving and environmental conditions and estimate a health of an actuator of the steering system of the vehicle. The instructions configure the processor to estimate maximum achievable angle, velocity, and acceleration for the actuator of the steering system based on the estimated rack force and the estimated health of the actuator. The instructions configure the processor to provide to the steering system a path planned for the vehicle based on the estimated maximum achievable angle, velocity, and acceleration for the actuator of the steering system.

Abstract: A system according to the present disclosure includes an actuator control module and a damping ratio module. The actuator control module is configured to control an actuator of a vehicle to cause the vehicle to perform a yaw maneuver by rotating about its yaw axis. The damping ratio module is configured to determine a damping ratio based on an operating parameter measured during the yaw maneuver. The operating parameter includes at least one of a yaw rate of the vehicle, a yaw rate of a trailer connected to the vehicle, a lateral acceleration of the vehicle, a lateral acceleration of the trailer, a heading angle of the vehicle, and a hitch angle between a longitudinal axis of the vehicle and a longitudinal axis of the trailer.

Abstract: A method of identifying a fault in a friction brake actuated by hydraulic brake pressure and configured to decelerate a vehicle road wheel includes detecting, via a first sensor, a vibration at the road wheel and communicating data indicative of the detected vibration to a controller. The method additionally includes detecting, via a second sensor, upon application of the hydraulic brake pressure, a hydraulic brake pressure variation and communicating data indicative of the detected hydraulic brake pressure variation. The method additionally includes comparing, via the controller, the data indicative of the detected vibration with a threshold vibration value and the data indicative of the detected hydraulic brake pressure variation with a threshold hydraulic brake pressure value.

Abstract: Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: recording, by a controller onboard the vehicle, lidar data from the lidar device while the vehicle is travelling on a straight road; determining, by the controller, that the vehicle is travelling straight on the straight road; detecting, by the controller, straight lane marks on the straight road; computing, by the controller, lidar boresight parameters based on the straight lane marks; calibrating, by the controller, the lidar device based on the lidar boresight parameters; and controlling, by the controller, the vehicle based on data from the calibrated lidar device.

Abstract: System and method for controlling operation of a vehicle in real-time with a supervisory control module. A fault detection module is configured to receive respective sensor data from one or more sensors in communication with the vehicle and generate fault data. The supervisory control module includes at least one fault-tolerant controller configured to respond to a plurality of faults. The supervisory control module is configured to receive the fault data. When at least one fault is detected from the plurality of faults, the supervisory control module is configured to employ the fault-tolerant controller to generate at least one selected command. The selected command is transmitted to one or more device controllers for delivery to at least one of the respective components of the vehicle. Operation of the vehicle is controlled based in part on the selected command.

Abstract: A comparing module receives first data regarding surroundings of a vehicle from a plurality of sensors in the vehicle, receives second data regarding the surroundings from the plurality of sensors after receiving the first data, compares the first data to the second data, and determines a first difference between the first data and the second data based on the comparison of the first data to the second data. A perception module generates a first set of perception results based on the first data, generates a second set of perception results based on the second data, and determines a second difference between the first data and the second data based on the first set of perception results and the second set of perception results. A diagnostics module determines whether one of the sensors or the perception module is faulty based on a combination of the first difference and the second difference.

Abstract: A perception system includes a perception module configured to capture first sensor data that includes data from at least one of an external sensor and a camera captured in a first period, a prediction module configured to receive the first sensor data, generate, based on the first sensor data, predicted sensor data for a second period subsequent to the first period, receive second sensor data for the second period, and output results of a comparison between the predicted sensor data and the second sensor data, and a diagnostic module configured to selectively identify a fault in the perception system based on the results of the comparison.

Abstract: A method of on-line diagnostic and prognostic assessment of an autonomous vehicle perception system includes detecting, via a sensor, a physical parameter of an object external to the vehicle. The method also includes communicating data representing the physical parameter via the sensor to an electronic controller. The method additionally includes comparing the data from the sensor to data representing the physical parameter generated by a geo-source model. The method also includes comparing results generated by a perception software during analysis of the data from the sensor to labels representing the physical parameter from the geo-source model. Furthermore, the method includes generating a prognostic assessment of a ground truth for the physical parameter of the object using the comparisons of the sensor data to the geo-source model data and of the software results to the geo-source model labels. A system for on-line assessment of the vehicle perception system is also disclosed.