Abstract: An apparatus includes at least one camera configured to capture an image of a traffic lane in front of a vehicle. The apparatus also includes a path tracking controller configured to detect lane boundaries and a path curvature for the traffic lane from the image, determine a lateral offset of the vehicle from a reference path for the traffic lane and a heading offset for the vehicle from the path curvature, determine a yaw rate maintaining the vehicle within the traffic lane using a kinematics control, determine a steering angle maintaining the vehicle within the traffic lane using a dynamics control and the yaw rate determined by the kinematics control, and activate a steering control based on the determined steering angle.

Abstract: An apparatus includes at least one camera configured to capture an image of a traffic lane in front of a vehicle. The apparatus also includes a vehicle behavior prediction controller configured to determine lane boundaries and road curvature for a segment of a traffic lane occupied by the vehicle from the captured image and prior captured images; determine lateral distances of the vehicle from the lane boundaries and a rate of departure of the vehicle from the occupied traffic lane that is accurate for the determined road curvature; determine a time to line crossing for the vehicle from the lateral distances and the rate of departure; and activate a lane departure warning indicator based on the determined time to line crossing.

Abstract: An apparatus includes at least one camera configured to capture at least one image of a traffic lane, an inertial measurement unit (IMU) configured to detect motion characteristics, and at least one processor. The at least one processor is configured to obtain a vehicle motion trajectory using the IMU and based on one or more vehicle path prediction parameters, obtain a vehicle vision trajectory based on the at least one image, wherein the vehicle vision trajectory includes at least one lane boundary, determine distances between one or more points on the vehicle and one or more intersection points of the at least one lane boundary based on the obtained vehicle motion trajectory, determine at least one time to line crossing (TTLC) based on the determined distances and a speed of the vehicle, and activate a lane departure warning indicator based on the determined at least one TTLC.

Abstract: Operation and motion control, by a vehicle's ADAS or AD features, is improved in ways suitable to EVs having higher driving and handling performance. The vehicle dynamic model for high rates of lateral acceleration (e.g., sharp cornering or taking curves having a small radius of curvature as faster speeds) is improved by one or more of optimizing time cornering stiffness with a sigmoid function and/or altering front/rear steering angle to account for roll steer and compliance steer, based on vehicle testing. Indicators for lane departure warning or collision warning, evasive steering, or emergency braking are therefore reliably extended to allow higher performance maneuvers.

Abstract: An apparatus includes an inertial measurement unit (IMU) configured to detect motion characteristics of a vehicle. The apparatus also includes an odometry system configured to detect a wheel speed of each wheel of the vehicle. The apparatus further includes at least one processor communicatively connected to the IMU and the odometry system, the at least one processor configured to determine first parameters for predicting a path of the vehicle, determine second parameters for predicting the path of the vehicle, and predict the path of the vehicle using a combination of the first parameters and the second parameters, wherein the combination is weighted based on a longitudinal acceleration of the vehicle obtained using the IMU.

Abstract: An apparatus includes at least one camera configured to capture at least one image of a traffic lane, an inertial measurement unit (IMU) configured to detect motion characteristics, and at least one processor. The at least one processor is configured to obtain a vehicle motion trajectory using the IMU and based on one or more vehicle path prediction parameters, obtain a vehicle vision trajectory based on the at least one image, wherein the vehicle vision trajectory includes at least one lane boundary, determine distances between one or more points on the vehicle and one or more intersection points of the at least one lane boundary based on the obtained vehicle motion trajectory, determine at least one time to line crossing (TTLC) based on the determined distances and a speed of the vehicle, and activate a lane departure warning indicator based on the determined at least one TTLC.

Abstract: An apparatus includes at least one camera configured to capture an image of a traffic lane in front of a vehicle. The apparatus also includes a path tracking controller configured to detect lane boundaries and a path curvature for the traffic lane from the image, determine a lateral offset of the vehicle from a reference path for the traffic lane and a heading offset for the vehicle from the path curvature, determine a yaw rate maintaining the vehicle within the traffic lane using a kinematics control, determine a steering angle maintaining the vehicle within the traffic lane using a dynamics control and the yaw rate determined by the kinematics control, and activate a steering control based on the determined steering angle.

Abstract: Operation and motion control, by a vehicle's ADAS or AD features, is improved in ways suitable to EVs having higher driving and handling performance. The vehicle dynamic model for high rates of lateral acceleration (e.g., sharp cornering or taking curves having a small radius of curvature as faster speeds) is improved by one or more of optimizing time cornering stiffness with a sigmoid function and/or altering front/rear steering angle to account for roll steer and compliance steer, based on vehicle testing. Indicators for lane departure warning or collision warning, evasive steering, or emergency braking are therefore reliably extended to allow higher performance maneuvers.

Abstract: An apparatus includes at least one camera configured to capture an image of a traffic lane in front of a vehicle. The apparatus also includes a vehicle behavior prediction controller configured to determine lane boundaries and road curvature for a segment of a traffic lane occupied by the vehicle from the captured image and prior captured images; determine lateral distances of the vehicle from the lane boundaries and a rate of departure of the vehicle from the occupied traffic lane that is accurate for the determined road curvature; determine a time to line crossing for the vehicle from the lateral distances and the rate of departure; and activate a lane departure warning indicator based on the determined time to line crossing.