Abstract: A method and system for compensating for vehicle disturbances during vehicle operation, including: an algorithm for obtaining predicted driving condition data from a database, wherein the database includes one or more of geospatial data and remote vehicle data; an algorithm for obtaining real-time vehicle state data from equipment communicatively connected to a vehicle; an algorithm for combining the predicted driving condition data and the real-time vehicle state data to formulate a desired steering torque request necessary to compensate for predicted and actual driving conditions experienced by the vehicle; and an algorithm for providing the desired steering torque request to a power steering assist system of the vehicle to compensate for the predicted and actual driving conditions experienced by the vehicle.

Abstract: A driver assistance control device includes a detection part detecting a degree of concentration of a driver; an acquisition part acquiring assistance levels set by the driver; a driver assistance control part performing a plurality of the functions; and a changing part automatically changing setting of the plurality of the functions in accordance with the degree. The changing part automatically changes the settings of first driver assistance functions including one of a plurality of the functions so that the assistance levels become higher than the levels set by the driver when the degree becomes lower than a first value, and automatically changes the settings of second driver assistance functions including at least another of a plurality of the functions so that the assistance levels become higher than the levels set by the driver when the degree becomes lower than a second value different from the first value.

Abstract: Provided is a control apparatus for a vehicle configured to perform steering assist control and driving support control based on a motor control amount, the control apparatus being further configured to correct the motor control amount such that a specific steering amount in a second period becomes smaller than that in a first period, the specific steering amount being an amount of change in a steering angle required for a magnitude of a steering torque to reach a torque threshold, the first period being a period from a first time point at which a driving support operation state is changed to an on state to a second time point at which a driving operation switching request is issued, and the second period being a period from the second time point to a third time point at which the driving support operation state is changed to an off state.

Abstract: A vehicle stability control method and a vehicle stability control device are provided. The method may be applied to an intelligent automobile field such as intelligent driving or autonomous driving, and is used to control lateral stability of a front axis and rear axis distributed driven vehicle. In this method, a yawing movement of the vehicle is considered, and an additional yawing moment for maintaining lateral stability of the vehicle is provided by compensating for front-axis and rear-axis slip ratios, to control lateral stability of the vehicle and therefore improve stability of the vehicle during driving.

Abstract: Systems and methods are provided for robot congestion management including a robot monitoring server configured to track a location of a plurality of robots within a navigational space and a plurality of robots in communication with the robot monitoring server, each robot including a processor and a memory, the memory storing instructions that, when executed by the processor, cause the autonomous robot to determine, from a task list assigned to the robot, a first pose location corresponding to a first task, receive, from the robot monitoring server, congestion information associated with the first pose location, identify a congested state of the first pose location indicated by the congestion information, select, responsive to the identification of the congested state, a second task from the task list, and navigate to a second pose location corresponding to the second task.

Abstract: A vehicle control apparatus is configured to execute processing to calculate a correction travel route and a control target value on the basis of a target travel route under a specified constraint condition. The vehicle control apparatus calculates the correction travel route by using an evaluation function in a manner to minimize a difference of the correction travel route from the target travel route. The evaluation function is a sum that is acquired by weighting the evaluation value at each prediction point by weight coefficients. A time interval between each adjacent pair of the prediction points is set to be increased from a near side toward a far side from the vehicle. The weight coefficients are set such that weight at the prediction point on the far side from the vehicle is less than the weight at the prediction point on the near side of the vehicle.

Abstract: A method and system for validating the calculated localization (15) of a vehicle are devised. The vehicle (1) is equipped with P independent localization data sources (2-8), with P higher than or equal to 2.

Abstract: Aspects of the subject technology relate to systems and methods for adaptively controlling acceleration of a vehicle employing one pedal driving functionality. A full release of an accelerator pedal of a vehicle is detected while the vehicle travels at a first non-zero speed according to a default accelerator pedal map. When the full release of the accelerator pedal is detected, the vehicle decelerates, and the first accelerator pedal map is switched to an adaptive accelerator pedal map. While the vehicle decelerates, the adaptive accelerator pedal map is adjusted according to reduction of a speed of the vehicle. When a depression of the accelerator pedal to reaccelerate the vehicle pedal is detected while the vehicle decelerates and before the speed of the vehicle reaches zero, the vehicle is controlled to reaccelerate the vehicle according to the adjusted adaptive accelerator pedal map without further decelerating the vehicle.

Abstract: A method of operating an autonomous vehicle includes detecting, based on an input received from a sensor of an autonomous vehicle that is being navigated by an on-board computer system, an occurrence of a driving event, making a determination by the on-board computer system, upon the detecting the occurrence of the driving event, whether or how to alter the path planned by the on-board computer system according to a set of rules, and performing further navigation of the autonomous vehicle based on the determination until the driving event is resolved. The driving event may include a presence of an object in a shoulder area of the road. The driving event may include accumulation of more than a certain number of vehicles behind the autonomous vehicle. The driving event may include a slow vehicle ahead of the autonomous vehicle. The driving event may include a do-not-change-lane zone is within a threshold.

Abstract: Techniques for detecting an object in an environment, determining a probability that the object is a region of particulate matter, and controlling a vehicle based on the probability. The region particulate matter may include steam (e.g., emitted from a man-hole cover, a dryer exhaust port, etc.), exhaust from a vehicle (e.g., car, truck, motorcycle, etc.), dust, environmental gases (e.g., resulting from sublimation, fog, evaporation, etc.), or the like. Based on the associated probability that the object is a region of particulate matter, a vehicle computing system may substantially maintain a vehicle trajectory, modify a trajectory of the vehicle to ensure the vehicle does not impact the object, stop the vehicle, or otherwise control the vehicle to ensure that the vehicle continues to progress in a safe manner. The vehicle controller may continually adjust the trajectory based on additionally acquired sensor data and associated region probabilities.

Abstract: A method of moving an autonomous vehicle to a safe zone after an accident is provided. The method includes: setting a threshold which is a criterion for determining a failure of a chassis system; determining whether a failure occurs by using the threshold; determining a control mode of twin clutches or a braking system; designating avoidance speed level in accordance with whether a following vehicle approaches; and setting a target trajectory to a safe zone and then generating braking torque on left and right wheels or controlling distribution of driving torque through the twin clutches in order to move the autonomous vehicle at the avoidance speed along the target trajectory.

Abstract: A steering arrangement for a vehicle includes: a hydrostatic steering unit provided with two work ports, a high-pressure port, a low-pressure port, a main branch of the flow arranged between the work ports and the high-pressure port and comprising a dosing device, and an amplification branch arranged between the work ports and the high-pressure port, in parallel with the dosing device, and comprising a flow-rate regulating device of the electrically actuated type, a steering shaft provided with a first end adapted for being connected to a steering member and a second end adapted for being connected to the hydrostatic steering unit, an electric motor configured to set the steering shaft in rotation, and an electronic control unit configured to actuate the flow-rate regulating device as a function of a parameter indicative of an operating condition of the vehicle.

Abstract: A vehicle control apparatus that controls a vehicle based on peripheral information of the vehicle, comprising: a first operator used to start first travel control; a second operator used to resume the first travel control after the first travel control has been terminated; a third operator used to further start second travel control during the first travel control; and a control unit configured to, while the first travel control and the second travel control are active, if the first travel control and the second travel control are terminated based on the same condition or the same timing, resume the first travel control and the second travel control in accordance with an operation of the second operator.

Abstract: A vehicle control system executes vehicle stability control and driving assist control. The vehicle control system calculates an unstable state quantity representing instability of the vehicle and an activation threshold of the vehicle stability control, based on a vehicle state detected by a sensor installed on the vehicle. A state change amount is an amount of increase in the unstable state quantity from an average unstable state quantity that is obtained when a lateral acceleration of the vehicle is within a predetermined range. A threshold change amount is an amount of increase in the activation threshold from an average activation threshold that is obtained when the lateral acceleration is within the predetermined range. When the driving assist control is in execution, the vehicle control system activates the vehicle stability control in response to the state change amount becoming larger than the threshold change amount.

Abstract: The invention relates to a method of controlling steering of a vehicle (1), comprising the steps of: acquiring (S1) a signal indicative of a driver request indicative of a desired wheel angle of a turnable vehicle wheel (5); determining (S2), based on the signal indicative of the driver request, a control signal for an actuator (13) coupled to the turnable vehicle wheel to achieve the desired wheel angle; controlling (S3) the actuator (13) using the control signal; detecting (S4) an abrupt wheel disturbance event; and in response to detecting the abrupt wheel disturbance event: acquiring (S5), from a lane detecting arrangement (19), a signal indicative of a lane curvature ahead of the vehicle (1); and controlling (S6) the actuator (13) based on the lane curvature ahead of the vehicle (1).

Abstract: A plurality of power supply circuits include a second power supply circuit for a CPU included in a control unit and a first power supply circuit for another circuit. An output voltage from the first power supply circuit is higher than an output voltage from the second power supply circuit. A range of input voltage is divided into three levels of voltage sub-ranges in accordance with a requirements specification. When the input voltage falls within a lower level voltage sub-range, both of an output function of the first power supply circuit and an output function of the second power supply circuit are stopped. When the input voltage falls within an intermediate level voltage sub-range, the output function of the first power supply circuit is stopped. When the input voltage falls within an upper level voltage sub-range, all circuits are controlled so as to operate.

Abstract: Techniques for controlling a vehicle based on a collision avoidance algorithm are discussed herein. The vehicle receives sensor data and can determine that the sensor data represents an object in an environment through which the vehicle is travelling. A computing device associated with the vehicle determines a collision probability between the vehicle and the object at predicted locations of the vehicle and object at a first time. Updated locations of the vehicle and object can be determined, and a second collision probability can be determined. The vehicle is controlled based at least in part on the collision probabilities.

Abstract: A traveling control apparatus performs a target-following control process on a target to be followed detected by a target detecting unit. Further, the traveling control apparatus calculates a probability that the target to be followed is within an own lane, and determines whether a degree of recognition by the target detecting unit of the target to be followed is in a weakly recognized state where the degree of recognition is weaker than a predetermined degree. The apparatus sets a reliability of the target to be followed on the basis of the probability calculated by a probability calculating process and a determination result by a determining process, and controls acceleration of an own vehicle so that a jerk which is a differential value of the acceleration becomes smaller as the reliability of the target to be followed is lower while the target-following control process is performed.

Abstract: In response to a request for a three-point turn, a forward turning path from a current location and heading direction of the ADV is generated. In generating the forward turning path, a forward curvature is determined based on the maximum forward turning angle of the ADV by applying a full steering command. The forward turning path is determined based on the forward curvature from the current location of the ADV. A forward speed profile is calculated for the forward turning path based on perception information that perceives a driving environment surrounding the vehicle at the point in time. In addition, a backward turning path is generated from an end point of the forward turning path based on a maximum backward turning angle associated with the ADV. The three-point turn path is then generated based on the forward turning path and the backward turning path to drive the vehicle to make the three-point turn.

Abstract: Disclosed are an apparatus and method for controlling articulation of an articulated vehicle. The apparatus includes a yaw rate calculator configured to calculate a desired yaw rate based on a steering angle and a speed of the articulated vehicle, a first moment generator configured to generate a yaw rate control moment based on the desired yaw rate and an actual yaw rate of the articulated vehicle, a second moment generator configured to generate a hitch damping control moment based on a hitch angular velocity of the articulated vehicle, an adder configured to output a final moment for controlling the articulation of the articulated vehicle by adding the yaw rate control moment and the hitch damping control moment, and an articulation controller configured to control the articulation of the articulated vehicle based on the final moment.