Abstract: Vehicles and related systems and methods are provided for controlling a vehicle in an autonomous operating mode. One method involves determining a current value for a range of view associated with a sensing device onboard the vehicle, determining a target value for the range of view based at least in part on a speed of the vehicle, and in response to determining the current value is less than the target value, determining a dropback adjustment distance based at least in part on a difference between target value for the range of view and an estimated distance to a closest in path (CIP) vehicle ahead of the vehicle within a current lane of travel, determining a longitudinal trajectory for the vehicle based at least in part on the dropback adjustment distance, and autonomously operating one or more actuators onboard the vehicle in accordance with the longitudinal trajectory.

Abstract: Methods and systems are provided for controlling a vehicle. In one embodiment, a method includes: determining, by a processor, that a lane centering feature is active in the vehicle; identifying, by the processor, a pattern of steering wheel torque; determining, by the processor, a driver requested offset based on a location of the vehicle and a location of a center of the lane; applying, by the processor, the driver requested offset to a planned trajectory of the vehicle; evaluating, by the processor, one or more duration conditions; and in response to the evaluating, selectively generating, by the processor, a control signal based on the planned trajectory with the driver requested offset.

Abstract: A method of automated vehicle braking control includes detecting a first object threat in a reverse travel path of a vehicle, monitoring a distance of the vehicle from the first object threat with respect to a time to collision threshold, and in response to a determination that the vehicle is crossing the time to collision threshold, initiating a first rear virtual bumper event by automatically applying brakes of the vehicle. The method includes storing a location of the first object threat, defining a boundary region surrounding the location of the first object threat, detecting a second object threat in the reverse travel path, comparing a location of the second object threat with the boundary region, and inhibiting automatic application of the brakes in response to a determination that the location of the second object threat is within the boundary region, to avoid a second rear virtual bumper event.

Abstract: Methods and systems of controlling a vehicle. The methods and systems include switching to a second processor executed mode in response to determining that a range of perception information extends to a range end point that is closer to the vehicle than a first Look Ahead (LA) point. In the second processor executed mode: a motion planner requests a lateral controller to provide a closer LA point relative to the vehicle. The lateral controller determines the closer LA point and sends the closer LA point to the motion planner. The lateral controller generates control commands for an EPS system based on an error between a desired trajectory and an actual trajectory at the closer LA point. The motion planner generates the desired trajectory based on perception data and the closer LA point.

Abstract: A vehicle control system for evasive steering maneuvers includes a forward object detector configured to detect objects in a driving path of a vehicle, a steering wheel configured to control a steering direction of the vehicle, a vehicle user interface configured to display a visual indication to a driver and generate audio for the driver, and a vehicle control module configured to identify, via the forward object detector, an object in the driving path of the vehicle, determine an estimated time to collision with the object, and in response to the estimated time to collision being less than a specified time threshold, execute at least one of providing a visual indication of a recommended evasive steering maneuver to the driver via the vehicle user interface, generating an audio alert of the recommended evasive steering maneuver, applying steering torque to the steering wheel to indicate the recommended evasive steering maneuver.

Abstract: Methods and systems for providing driving assistance in a vehicle. In one embodiment, a method includes: determining, by a processor, a trajectory of the vehicle along a roadway; determining, by the processor, a confidence score based on a predicted lateral acceleration and an actual lateral acceleration at a point along the trajectory; determining, by the processor, longitudinal velocity data based on the confidence score; and generating, by the processor, control signals to vehicle actuators to control the vehicle based on the longitudinal velocity data.

Abstract: A system for controlling lateral positioning in a host vehicle includes a controller having a processor and tangible, non-transitory memory. The host vehicle is located on a host lane defined by a host lane center. The controller is adapted to determine if a first and second enabling condition are met. The first enabling condition is met when the host vehicle is travelling on a non-divided road having no physical barrier separating respective traffic lanes travelling in opposing directions. The second enabling condition is met when the host lane is an inner most lane adjacent to an opposing traffic lane. When the first and second enabling conditions are both met, the controller is adapted to determine a non-divided road offset relative to the host lane center in real-time. Operation of the vehicle is controlled based in part on a magnitude, and a direction of the non-divided road offset.

Abstract: Systems and methods are provided for detecting unclassified hazards for a driver assistance system of a vehicle. The systems include a data storage device comprising map data, one or more sensors configured to generate sensor data indicative of one or more sensed objects in proximity to the vehicle, and a controller configured to, by one or more processors thereof, receive the map data and the sensor data, filter the sensor data to omit at least one of the sensed objects located outside of a bounding area that includes a portion of an adjacent lane next to a current lane in which the vehicle is operating, determine whether an unclassified hazard is present in the adjacent lane, and maintain operation of the vehicle in the current lane in response to a determination that the unclassified hazard is present in the adjacent lane.

Abstract: A method for lane centering control of a host vehicle that is towing a trailer includes: determining in real time, by a controller of the host vehicle, a radius of curvature of a turn, wherein the host vehicle is approaching the turn; determining, by the controller, a trailer required offset based on the radius of the curvature of the turn to maintain the host vehicle and the trailer in a lane while the host vehicle and the trailer move along the turn; and controlling the host vehicle using the trailer offset to maintain the host vehicle and the trailer in a lane while the host vehicle and the trailer move along the turn. The method also allows the host vehicle to avoid encroaching vehicles.

Abstract: Vehicles and related systems and methods are provided for controlling a vehicle in an autonomous operating mode. One method involves identifying one or more avoidance zones in a vicinity of the vehicle, determining a deadline for completing a lateral maneuver to avoid a priority avoidance zone of the one or more avoidance zones, obtaining an initial reference lateral trajectory for the lateral maneuver based at least in part on the deadline, autonomously operating one or more actuators onboard the vehicle in accordance with the initial reference lateral trajectory, and thereafter obtaining one or more updated reference lateral trajectories for the vehicle, wherein the one or more actuators onboard the vehicle are autonomously operated in accordance with the one or more updated reference lateral trajectories in lieu of the initial reference lateral trajectory.

Abstract: Methods and systems are provided for controlling a vehicle. In one embodiment, a method includes: determining, by a processor, that a lane centering feature is active in the vehicle; identifying, by the processor, a pattern of steering wheel torque; determining, by the processor, a driver requested offset based on a location of the vehicle and a location of a center of the lane; applying, by the processor, the driver requested offset to a planned trajectory of the vehicle; evaluating, by the processor, one or more duration conditions; and in response to the evaluating, selectively generating, by the processor, a control signal based on the planned trajectory with the driver requested offset.

Abstract: A method for controlling operation of a motor vehicle includes an electronic controller receiving, e.g., from a vehicle-mounted sensor array, sensor data with dynamics information for a target vehicle and, using the received sensor data, predicting a lane assignment for the target vehicle on a road segment proximate the host vehicle. The electronic controller also receives map data with roadway information for the road segment; the controller fuses the sensor and map data to construct a polynomial overlay for a host lane of the road segment across which travels the host vehicle. A piecewise linearized road map of the host lane is constructed and combined with the predicted lane assignment and polynomial overlay to calculate a lane assignment for the target vehicle. The controller then transmits one or more command signals to a resident vehicle system to execute one or more control operations using the target vehicle's calculated lane assignment.

Abstract: Methods and systems of controlling a vehicle. The methods and systems include switching to a second processor executed mode in response to determining that a range of perception information extends to a range end point that is closer to the vehicle than a first Look Ahead (LA) point. In the second processor executed mode: a motion planner requests a lateral controller to provide a closer LA point relative to the vehicle. The lateral controller determines the closer LA point and sends the closer LA point to the motion planner. The lateral controller generates control commands for an EPS system based on an error between a desired trajectory and an actual trajectory at the closer LA point. The motion planner generates the desired trajectory based on perception data and the closer LA point.

Abstract: In an exemplary embodiment, a vehicle system is provided that includes a sensor array and a processor. The sensor array is configured to generate vehicle sensor data pertaining to a target vehicle in proximity to the vehicle. The processor is coupled to the sensor array, and is configured to at least facilitate: beginning an overtake maneuver for the vehicle, via instructions provided to the drive system, when conditions for an overtake of the target vehicle by the vehicle are initially determined by the processor to be valid; subsequent to the beginning of the overtake maneuver, determining via the processor whether the conditions for the overtake of the target vehicle are still valid, based on updated sensor data reflecting variant traffic conditions; and further controlling the overtake maneuver based on the determining as to whether the conditions for the overtake of the target vehicle are still valid.

Abstract: Vehicles and related systems and methods are provided for controlling a vehicle in an autonomous operating mode. One method involves identifying an object in a potential incursion zone corresponding to a lane adjacent to a current lane of travel for the vehicle, determining an estimated time in zone associated with the object, and in response to determining the estimated time in zone is greater than a threshold, determining a longitudinal adjustment strategy to reduce the estimated time in zone associated with the object, determining an adjusted speed for the vehicle in accordance with the longitudinal adjustment strategy, determining a longitudinal trajectory for the vehicle within the current lane of travel based at least in part on the adjusted speed, and autonomously operating one or more actuators onboard the vehicle in accordance with the longitudinal trajectory.

Abstract: A system and method of detecting and mitigating an erratic vehicle by a host vehicle. The method includes gathering sensor information on a calibratable external region surrounding the host vehicle; analyzing the sensor information to detect a target vehicle traveling in a lane and a movement of the target vehicle in the lane; determining whether the movement of the target vehicle in the lane is erratic; if erratic then designating target vehicle as erratic vehicle; assigning a risk score to the erratic vehicle; and implementing a predetermined mitigating action correlating to the assigned risk score to the erratic vehicle. The mitigating action includes one or more of: warning an operator of the host vehicle, warning a vehicle proximal to the host vehicle, and taking at least partial control of the host vehicle to further distance the host vehicle apart from the erratic vehicle.

Abstract: A control system for a vehicle using a forward-facing camera includes a look ahead module configured to determine a distance to a look ahead point. A lane center module determines a location of a lane center line. A vehicle center line module determines a location of a vehicle center line. A first lateral offset module determines a first lateral offset based on the look ahead point and the determined lane center line. A second lateral offset module determines a second lateral offset based on the determined lane center line and the vehicle center line. A yaw angle offset calculating module receives the first lateral offset, the second lateral offset and the distance to the look ahead point, calculates a yaw angle offset, and compensates a yaw angle error based on the yaw angle offset.

Abstract: Vehicles and related systems and methods are provided for controlling a vehicle in an autonomous operating mode. One method involves a controller associated with a vehicle identifying a visual attention state associated with a driver of the vehicle based at least in part on output of an imaging device onboard the vehicle, determining, based at least in part on the visual attention state, a driver lane preference corresponding to an adjacent lane in a visual attention direction relative to a current lane of travel for the vehicle, adjusting a priority associated with the adjacent lane corresponding to the driver lane preference and autonomously operating one or more actuators onboard the vehicle to initiate maneuvering the vehicle from the current lane in a manner that is influenced by the adjusted priority associated with the adjacent lane.

Abstract: In accordance with an exemplary embodiment, methods and systems are provided for controlling automatic overtake functionality for a host vehicle. In on such exemplary embodiment, a disclosed method includes: (i) obtaining, via a plurality of sensors, sensor data pertaining to the host vehicle and a roadway on which the host vehicle is traveling; (ii) determining, via a processor, when an automatic overtake is recommended, using the sensor data in conjunction with one or more threshold values; (iii) receiving driver inputs pertaining to the automatic overtake; and (iv) adjusting, via the processor, the one or more threshold values for the automatic overtake based on the driver inputs.

Abstract: An operator offset request for automatic lane following system of an automobile vehicle includes an operator offset request defining a lateral offset distance away from a first travel-line of an automobile vehicle in a displacement path moved until a second travel-line of the automobile is achieved. An operator input setting system when actuated generates an initiation signal forwarded to a controller to input the operator offset request. An achievement signal is generated to signify a selected offset position selected by a vehicle operator for the offset distance is achieved. A vehicle return travel path is elected by the vehicle operator to return the automobile vehicle to the first travel-line from the second travel-line by a return displacement path which is opposite to the displacement path.