Abstract: A method for enhancing a vehicular driving assistance system includes obtaining in-vehicle test data representative of performance of the vehicular driving assistance system of a vehicle during operation of the vehicular driving assistance system and determining, using the in-vehicle test data, a second order transfer function that models operation of the vehicular driving assistance system. The second order transfer function matches a magnitude response of the in-vehicle test data. The method includes providing a simulation environment. The simulation environment simulates the vehicular driving assistance system using the second order transfer function. The method includes determining, using the simulation environment, a feedforward contribution and a feedback contribution of the vehicular driving assistance system, and enhancing the vehicular driving assistance system based on adjustment of the feedforward contribution and the feedback contribution of the vehicular driving assistance system.

Abstract: A vehicular sensing system includes a camera and a radar sensor disposed at a vehicle. The system determines a plurality of data points that each represents a respective position on a respective lane marker of the road relative to the equipped vehicle. The system, for each data point of the plurality of data points, tracks the respective positions on respective lane markers relative to the equipped vehicle. The system detects presence of another vehicle rearward of the equipped vehicle, and determines location of the detected other vehicle relative to the tracked respective positions on respective lane markers that are located rearward of the equipped vehicle. The vehicular sensing system determines a collision threat for a lane change maneuver by the equipped vehicle based on the tracked respective positions.

Abstract: A vehicular control system includes a camera disposed at a windshield of a vehicle and viewing forward of the vehicle. The system includes an electronic control unit (ECU) that, via processing of image data captured by the camera and transferred to the ECU, determines lane markers of a traffic lane along a road being traveled by the vehicle. The ECU determines a lane quality value based at least in part on determining fading of one or more lane markers of the traffic lane of the road and/or determining vanishing of one or more lane markers of the traffic lane of the road. When the lane quality value exceeds a threshold value, the system provides a steering command to a steering system of the vehicle to adjust a heading of the vehicle to center the vehicle within the traffic lane of the road being traveled by the vehicle.

Abstract: A method includes providing a simulation environment that simulates a vehicle. The method includes providing the vehicular lane centering algorithm to the simulation environment, generating a base scenario for the vehicular lane centering algorithm for use by the simulated vehicle, and extracting, from the simulation environment, traffic lane information. The method also includes measuring performance of the vehicular lane centering algorithm during the base scenario using the extracted traffic lane information and generating a plurality of modified scenarios derived from the base scenario. Each modified scenario of the plurality of modified scenarios adjusts at least one parameter of the base scenario. The method also includes measuring performance of the vehicular lane centering algorithm during the plurality of modified scenarios using the extracted traffic lane information.

Abstract: A vehicular driving assistance system includes a camera viewing exterior of a vehicle and capturing image data. The system, via processing captured image data as the vehicle travels along a current traffic lane, determines a current lateral position of the vehicle within the current traffic lane and determines a target lateral position of the vehicle within the current traffic lane. The system determines a steering command to guide the vehicle from the current lateral position to the target lateral position and determines a steering angle offset required to maintain the target lateral position within the current traffic lane and stores the determined steering angle offset in nonvolatile memory. After storing the determined steering angle offset and when the vehicle is traveling during a subsequent trip, the system determines a second target lateral position of the vehicle within the current traffic lane and applies the stored steering angle offset.

Abstract: A method for adjusting an advanced driving assist system for a vehicle includes determining a quintic polynomial in a Frenet frame. The quintic polynomial represents a non-linear trajectory of a vehicle. A plurality of coefficients of the quintic polynomial is determined. Using the quintic polynomial and the plurality of coefficients, a linear expression that represents a respective trajectory at a respective point along the non-linear trajectory of the vehicle is determined. Vehicle dynamics of the vehicle are modeled using the linear expression. A target path for the vehicle is simulated. A steering command, using the model, to maneuver the vehicle is determined. Based at least in part on the steering command, an advanced driving assist system of the vehicle is adjusted.

Abstract: A vehicular control system includes a camera that captures image data. The system includes an electronic control unit (ECU) for processing image data captured by the camera. The ECU, via processing by an image processor of image data captured by the camera, determines lane information of a traffic lane along a road being traveled by the equipped vehicle. The ECU determines a lane quality value that represents a confidence in the determined lane information. When the lane quality value exceeds a threshold value, and based at least in part on the determined lane information, the ECU provides a steering command to a steering system of the equipped vehicle to adjust a heading of the equipped vehicle to center the equipped vehicle within the traffic lane of the road being traveled by the equipped vehicle.

Abstract: A method for enhancing a vehicular driving assistance system includes obtaining in-vehicle test data representative of performance of the vehicular driving assistance system of a vehicle during operation of the vehicular driving assistance system and determining, using the in-vehicle test data, a second order transfer function that models operation of the vehicular driving assistance system. The second order transfer function matches a magnitude response of the in-vehicle test data. The method includes providing a simulation environment. The simulation environment simulates the vehicular driving assistance system using the second order transfer function. The method includes determining, using the simulation environment, a feedforward contribution and a feedback contribution of the vehicular driving assistance system, and enhancing the vehicular driving assistance system based on adjustment of the feedforward contribution and the feedback contribution of the vehicular driving assistance system.

Abstract: A vehicular driving assistance system includes a camera viewing exterior of a vehicle and capturing image data. The system, via processing captured image data as the vehicle travels along a current traffic lane, determines a current lateral position of the vehicle within the current traffic lane and determines a target lateral position of the vehicle within the current traffic lane. The system determines a steering command to guide the vehicle from the current lateral position to the target lateral position and determines a steering angle offset required to maintain the target lateral position within the current traffic lane and stores the determined steering angle offset in nonvolatile memory. After storing the determined steering angle offset and when the vehicle is traveling during a subsequent trip, the system determines a second target lateral position of the vehicle within the current traffic lane and applies the stored steering angle offset.

Abstract: A vehicular driving assist system includes a sensor disposed at a vehicle and sensing forward of the equipped vehicle. With the equipped vehicle traveling along a traffic lane of a road, the system, responsive to processing of sensor data captured by the sensor, determines a leading vehicle traveling along the traffic lane ahead of the equipped vehicle. The system determines position and heading information of the leading vehicle relative to the equipped vehicle. As the equipped vehicle approaches locations that correspond with the determined position and heading information of the leading vehicle, the system adapts the position and heading information of the leading vehicle to the current location and heading of the equipped vehicle and controls lateral movement of the equipped vehicle to follow the leading vehicle in and long the traffic lane of the road.

Abstract: A method includes providing a simulation environment that simulates a vehicle. The method includes providing the vehicular lane centering algorithm to the simulation environment, generating a base scenario for the vehicular lane centering algorithm for use by the simulated vehicle, and extracting, from the simulation environment, traffic lane information. The method also includes measuring performance of the vehicular lane centering algorithm during the base scenario using the extracted traffic lane information and generating a plurality of modified scenarios derived from the base scenario. Each modified scenario of the plurality of modified scenarios adjusts at least one parameter of the base scenario. The method also includes measuring performance of the vehicular lane centering algorithm during the plurality of modified scenarios using the extracted traffic lane information.

Abstract: A vehicular control system includes a camera that captures image data. The system includes an electronic control unit (ECU) for processing image data captured by the camera. The ECU, via processing by an image processor of image data captured by the camera, determines lane information of a traffic lane along a road being traveled by the equipped vehicle. The ECU determines a lane quality value that represents a confidence in the determined lane information. When the lane quality value exceeds a threshold value, and based at least in part on the determined lane information, the ECU provides a steering command to a steering system of the equipped vehicle to adjust a heading of the equipped vehicle to center the equipped vehicle within the traffic lane of the road being traveled by the equipped vehicle.