Abstract: A computing system for a vehicle may include processors to execute instructions to receive, by a middleware software layer of the computing system, messages published by one or more of a plurality of autonomous processing modules, and determine, by the middleware software layer, and based on the published messages, whether a similarity comparison of a first vehicle parameter and a second vehicle parameter satisfy a similarity threshold value. The first vehicle parameter and the second vehicle parameter relate to the messages published by the one or more autonomous processing modules. In response to determining that the similarity comparison of the first vehicle parameter and the second vehicle parameter does not satisfy the similarity threshold value, provide, by the middleware software layer, an instruction to a control system to cause the vehicle to perform an action, and cause, by the control system, the vehicle to perform the action.

Abstract: A system for predicting a collision risk in lane change decision based on a radar sensor, includes radar sensors disposed at a front portion and a rear portion of a host vehicle to recognize a forward vehicle positioned at a front-side portion of the host vehicle and a rearward vehicle positioned at a rear-side portion of the host vehicle, respectively, and a moving controller configured to determine that the host vehicle is able to change a lane, when a position of a counterpart vehicle, which is measured through the radar sensor, is not included in a section of the local map, and when a relative acceleration of the counterpart vehicle is maintained in an allowance range for a specific time.

Abstract: Anticipatory vehicle seat actuation, including: determining, based on sensor data capturing an environment around a vehicle, a predicted environmental state corresponding to a future time and comprising the vehicle entering a turn; determining, based on the predicted environmental state, an actuation state for one or more ECUs controlling a seat state the vehicle; and configuring the seat state of the vehicle according to the actuation state before the future time.

Abstract: A travel control device includes a first recognizer recognizing first travel environment information based on information acquired by an autonomous sensor, a second recognizer recognizing second travel environment information acquired by external communication, a main deceleration controller performing main deceleration control against an obstacle when it is determined, based on the first information, that the vehicle is traveling on a branch road merging with a main road and an obstacle may interfere with the vehicle at a merging point with the main road at a predicted time, and a preliminary deceleration controller performing preliminary deceleration control against the obstacle before the main deceleration control when it is determined, based on the second information, that the vehicle is traveling on the branch road, and the obstacle is to exist at the merging point at the predicted time and the obstacle is not recognized yet based on the first information.

Abstract: A vehicle control device includes a recognizer configured to recognize surrounding circumstances of a vehicle; a driving controller configured to control steering and acceleration/deceleration of the vehicle; and a mode determinator configured to determine any of a plurality of driving modes including a first driving mode and a second driving mode as a driving mode of the vehicle, in which tasks imposed on a driver in the second driving mode are less significant than in the first driving mode, the driving controller controls the vehicle in the second driving mode, and the driving mode is changed to the first driving mode when an abnormality including predetermined conditions has occurred regarding one or more cameras capturing an image of an area around the vehicle or an image captured by the one or more cameras.

Abstract: Systems and methods to authenticate a vehicle operator for an autonomous vehicle on a vehicle service platform are provided. In one example embodiment, a computer-implemented method includes obtaining authentication request data indicative of an authentication request, the authentication request data including at least an operator identifier associated with the vehicle operator and a vehicle identifier associated with the autonomous vehicle. The method includes providing a service code associated with the authentication request to the autonomous vehicle. The method includes obtaining from a user device in response to providing the service code to the autonomous vehicle, operator data associated with the authentication request, the operator data including the service code. The method includes determining an authentication result associated with the authentication request based at least in part on the service code and the operator data. The method includes providing the authentication result to the user device.

Abstract: Aspects of the technology relate to exception handling for a vehicle. For instance, a current trajectory for the vehicle and sensor data corresponding to one or more objects may be received. Based on the received sensor data, projected trajectories of the one or more objects may be determined. Potential collisions with the one or more objects may be determined based on the projected trajectories and the current trajectory. One of the potential collisions that is earliest in time may be identified. Based on the one of the potential collisions, a safety-time-horizon (STH) may be identified. When a runtime exception occurs, before performing a precautionary maneuver to avoid a collision, waiting no longer than the STH for the runtime exception to resolve.

Abstract: Aspects of the disclosure relate to detecting and responding to objects in a vehicle's environment. For example, an object may be identified in a vehicle's environment, the object having a heading and location. A set of possible actions for the object may be generated using map information describing the vehicle's environment and the heading and location of the object. A set of possible future trajectories of the object may be generated based on the set of possible actions. A likelihood value of each trajectory of the set of possible future trajectories may be determined based on contextual information including a status of the detected object. A final future trajectory is determined based on the determined likelihood value for each trajectory of the set of possible future trajectories. The vehicle is then maneuvered in order to avoid the final future trajectory and the object.

Abstract: A driver assist device and a method for operating the device are provided. The driver assist device includes a processor and a non-transitory storage medium containing program instructions executed by the processor. When a vehicle changes a lane from a traveling lane to a target lane, the processor determines a possibility of collision between the vehicle and another vehicle in the target lane and calculates an expected amount of deceleration of the vehicle with respect to a target vehicle in the target lane when there is no possibility of collision between the vehicle and the another vehicle. The processor compares the calculated expected amount of deceleration of the vehicle with a deceleration criterion, and determines whether to perform lane change assist control based on the comparison result.

Abstract: Among other things, techniques are described for expressive vehicle systems. These techniques may include obtaining, with at least one processor, data associated with an environment, the environment comprising a vehicle and at least one object; determining an expressive maneuver including a deceleration of the vehicle such that the vehicle stops at least a first distance away from the at least one object and the vehicle reaches a peak deceleration when the vehicle is a second distance away from the at least one object; generating data associated with control of the vehicle based on the deceleration associated with the expressive maneuver; and transmitting the data associated with the control of the vehicle to cause the vehicle to decelerate based on the deceleration associated with the expressive maneuver.

Abstract: According to one embodiment of the present disclosure, an industrial facility is provided comprising a tag layout and at least one ingress/egress zone. The tag layout comprises at least one double row of tags. The ingress/egress zone is located outside of an area of the vehicle travel plane occupied by the aisle path and is bounded in its entirety by the double row of tags, by two or more double rows of tags, by a combination of one or more double rows of tags and one more selected facility boundaries, or by combinations thereof. The double row of tags is arranged in an n×m matrix that is configured for successive detection of the inner and outer rows of tags that is dependent on the point-of-origin of a sensor transit path across the double row of tags. Additional embodiments are disclosed and claimed.

Abstract: A system for impact-based operation of an autonomous agent (equivalently referred to herein as an ego agent and autonomous vehicle) includes and/or interfaces with a computing subsystem (equivalently referred to herein as a computer and/or set of computers). A method for impact-based operation of an autonomous agent includes: receiving a set of inputs; predicting a set of future scenarios; and determining a set of metrics based on the set of future scenarios. Additionally or alternatively, the method can include operating the autonomous agent based on the set of metrics and/or any other processes.

Abstract: Augmented (virtual) reality techniques are described for assisting in determining characteristics of swimming pools and spas. Such pools and spas may, for example, be mapped at least as to their general sizes and shapes. The mapped and other information may be available for display and may be furnished to an automatic swimming pool cleaner (APC) to improve its operational efficiency in cleaning the pool.

Abstract: A method and apparatus for avoiding a blind spot of a vehicle, where the apparatus for avoiding the blind spot of the vehicle includes an image sensor configured to provide image information by acquiring a surrounding image of a host vehicle, and a vehicle controller configured to sense a large vehicle traveling adjacent to the host vehicle based on the image information, determine a blind spot range of the large vehicle, determine a dangerous level of the blind spot range, and generate a path for the host vehicle to deviate from the blind spot or to avoids the blind spot, based on a traveling situation of the host vehicle.

Abstract: A computer, including a processor and a memory, the memory including instructions to be executed by the processor to calibrate utility functions that determine optimal vehicle actions based on an approximate Nash equilibrium solution for multiple agents by determining a difference between model-predicted future states for the multiple agents to observed states for the multiple agents. The instructions can include further instructions to determine a vehicle path for a vehicle based on the optimal vehicle actions.

Abstract: A sensor detects an obstacle to a vehicle. An alert device provides alert information for inquiring a passenger to determine whether to continue automatic driving when a distance between the obstacle and an end of the lane is equal to or larger than a width necessary for travel based on a width of the vehicle. An input device receives a passenger's manipulation to continue automatic driving in response the inquiry provided from the alert device. A command output unit outputs a command to ease lane-based restriction on continuation of automatic driving to an automatic driving control device when the manipulation in response is received.

Abstract: A driver assistance system has an emergency stopping function for a motor vehicle. The driver assistance system is designed to perform an automated lane change from a first lane to a second lane when the emergency stopping function is triggered. The driver assistance system is further designed to determine at least one road characteristic and/or at least one vehicle interior characteristic and, based on the determined at least one road characteristic and/or the vehicle interior characteristic, to decide whether to execute the lane change.

Abstract: The present disclosure provides systems and methods for detecting a load on at least one fork of a material handling vehicle. The systems and methods can comprise a housing; at least one sensor positioned within the housing; a sensor arm pivotally coupled to the housing; at least one sensor flag integral with or coupled to the inside of the sensor arm; and wherein when the sensor arm pivots inward toward the housing the at least on sensor flag triggers the at least one sensor to identify at least a first load position and a second load position.

Abstract: A braking control device for controlling braking of a host vehicle. For a state in which a host vehicle is stopped in an intersection by automatic emergency braking and an oncoming vehicle is approaching in an oncoming lane, the host vehicle prohibits secondary braking is prohibited in, flashes a hazard lamp, and prohibits an idling stop. For a state in which it is determined in that the vehicle is stopped and it is determined in that it is safe for the vehicle to start moving, the host vehicle releases stop maintenance braking.

Abstract: A vehicle motion control method controls a motion state of a vehicle during a vehicle transient motion in which an acceleration in a lateral direction is generated in the vehicle. The vehicle motion control method includes: setting a corrected longitudinal acceleration for correcting a basic longitudinal acceleration determined in accordance with a required driving force for traveling of the vehicle; and determining a target longitudinal acceleration from the basic longitudinal acceleration and the corrected longitudinal acceleration, and operating a traveling actuator of the vehicle based on the target longitudinal acceleration. A direction and a magnitude of the corrected longitudinal acceleration are determined from a viewpoint of suppressing a change in a posture of an occupant of the vehicle in a roll direction.