Abstract: A system includes a computer programmed to receive first data from a first source that is a vehicle. The first data identifies a fault of the vehicle. The computer is programmed to receive second data from a second source outside the vehicle describing an area around the vehicle. The computer is programmed to determine, based on the first and second data, a navigational plan. The computer is programmed to transmit an instruction to the vehicle to actuate the vehicle according to the navigational plan.

Abstract: Vehicles can be equipped to operate in both autonomous and occupant piloted mode. A computing device included in a vehicle can determine estimated steering velocities for a steering system of a vehicle as a function of respective steering angles and time steps and determine a path for the vehicle to travel based on the estimated steering velocities.

Abstract: Vehicles can be equipped to operate in both autonomous and occupant piloted mode. Vehicles can be equipped with hardware and software to determine a driving-acceptable region defined by lateral and longitudinal coordinates relative to a first vehicle, wherein the lateral and longitudinal coordinates are based on the locations and sizes of one or more second vehicles and the location and size of a roadway. Upon determining a vehicle fault, a computing device in the vehicle can pilot the vehicle to a stop within the driving-acceptable region.

Abstract: A computer in a vehicle is programmed to operate a vehicle along a predefined course according to predetermined criteria, record an optimal path through the predefined course based on operation of the vehicle according to the predetermined criteria, monitor operation of at least one vehicle control while the vehicle is operated by a human driver along the predefined course, and actuate the at least one vehicle control based on a predetermined deviance from the optimal path.

Abstract: A vehicle system includes a first vehicle component at least partially controlling a vehicle action and a second vehicle component at least partially controlling the vehicle action. A coordination controller is programmed to coordinate control of the vehicle action. The coordination controller detects a first vehicle component failure, selects a vehicle mode, and allocates workloads of the first vehicle component and the second vehicle component according to the selected vehicle mode.

Abstract: A system includes a computer programmed to receive first data from a first source that is a vehicle. The first data identifies a fault of the vehicle. The computer is programmed to receive second data from a second source outside the vehicle describing an area around the vehicle. The computer is programmed to determine, based on the first and second data, a navigational plan. The computer is programmed to transmit an instruction to the vehicle to actuate the vehicle according to the navigational plan.

Abstract: A vehicle system includes a first communication path and a second communication path. The vehicle system further includes a processor programmed to determine a first communication speed associated with communicating over the first communication path and a secondary communication speed associated with communicating over the second communication path. The processor commands a first vehicle subsystem to communicate over the first communication path or the second communication path based at least in part on the first communication speed and the secondary communication speed.

Abstract: A computer is programmed to receive a message from a second vehicle indicating a fault in a second vehicle component. The computer is further programmed to modify an area of control of the first vehicle to include a location of the second vehicle, and to provide a control instruction to the second vehicle.

Abstract: A computer in a vehicle is programmed to operate a vehicle along a predefined course according to predetermined criteria, record an optimal path through the predefined course based on operation of the vehicle according to the predetermined criteria, monitor operation of at least one vehicle control while the vehicle is operated by a human driver along the predefined course, and actuate the at least one vehicle control based on a predetermined deviance from the optimal path.

Abstract: Vehicles can be equipped to operate in both autonomous and occupant piloted mode. Vehicles can be equipped with hardware and software to determine a driving-acceptable region defined by lateral and longitudinal coordinates relative to a first vehicle, wherein the lateral and longitudinal coordinates are based on the locations and sizes of one or more second vehicles and the location and size of a roadway. Upon determining a vehicle fault, a computing device in the vehicle can pilot the vehicle to a stop within the driving-acceptable region.

Abstract: Controlling a vehicle steering system includes determining a rack position of a rack needed to execute a maneuver. A minimum velocity allowing the desired steering angle to be reached is determined. The velocity of the vehicle is increased to the determined minimum velocity. The rack is moved to the rack position needed.

Abstract: An operation mode of a first actuator engaged with a steering rack is determined. An operation mode of a second actuator engaged with a steering column is determined. The operation mode of one of the first and second actuators is adjusted upon detecting a failure in the other of the first and second actuators. At least one of the steering rack and the steering column is actuated based on the operation mode. In an angle control mode, a predetermined steering angle is provided to the first and second actuators to adjust the steering rack according to the steering angle. In a torque control mode, a steering column torque from a torsion sensor disposed on the steering column is provided to the first and second actuators to adjust the steering rack according to the steering column torque.

Abstract: Vehicles can be equipped to operate in both autonomous and occupant piloted mode. A computing device included in a vehicle can determine estimated steering velocities for a steering system of a vehicle as a function of respective steering angles and time steps and determine a path for the vehicle to travel based on the estimated steering velocities.

Abstract: A computer is programmed to receive a message from a second vehicle indicating a fault in a second vehicle component. The computer is further programmed to modify an area of control of the first vehicle to include a location of the second vehicle, and to provide a control instruction to the second vehicle.

Abstract: A vehicle system includes a first communication path and a second communication path. The vehicle system further includes a processor programmed to determine a first communication speed associated with communicating over the first communication path and a secondary communication speed associated with communicating over the second communication path. The processor commands a first vehicle subsystem to communicate over the first communication path or the second communication path based at least in part on the first communication speed and the secondary communication speed.

Abstract: Controlling a vehicle steering system includes determining a rack position of a rack needed to execute a maneuver. A minimum velocity allowing the desired steering angle to be reached is determined. The velocity of the vehicle is increased to the determined minimum velocity. The rack is moved to the rack position needed.

Abstract: An operation mode of a first actuator engaged with a steering rack is determined. An operation mode of a second actuator engaged with a steering column is determined. The operation mode of one of the first and second actuators is adjusted upon detecting a failure in the other of the first and second actuators. At least one of the steering rack and the steering column is actuated based on the operation mode. In an angle control mode, a predetermined steering angle is provided to the first and second actuators to adjust the steering rack according to the steering angle. In a torque control mode, a steering column torque from a torsion sensor disposed on the steering column is provided to the first and second actuators to adjust the steering rack according to the steering column torque.

Abstract: A vehicle system includes a first vehicle component at least partially controlling a vehicle action and a second vehicle component at least partially controlling the vehicle action. A coordination controller is programmed to coordinate control of the vehicle action. The coordination controller detects a first vehicle component failure, selects a vehicle mode, and allocates workloads of the first vehicle component and the second vehicle component according to the selected vehicle mode.