Abstract: The techniques and systems herein enable ESA modification based on manual steering inputs. Specifically, a score is determined for a manual steering input to a host vehicle while an ESA is actively applying an ESA steering input to the host vehicle. The score quantifies an amount of additional steering input relative to the ESA steering input (e.g. additional steering angle, steering wheel torque). The ESA steering input is maintained, modified, or canceled based on the score. By doing so, the system is able to effectively adapt the ESA to the manual steering inputs thereby allowing for effective collision mitigation while ensuring that the vehicles operate as intended by the drivers.

Abstract: Disclosed are a tungsten hexafluoride preparation method and apparatus based on photoelectric synergy. A photocatalyst and metal tungsten are sequentially filled in a discharge area of a plasma reactor in a direction of gas entry, and the discharge area of the plasma reactor is irradiated with light at the same time; the background gas generates a large amount of plasma in the discharge area, SF6 undergoes decomposition under the synergistic effect of photocatalysis and plasma, SF6 is decomposed to generate fluorine atoms and low-fluorine sulfides such as SF5 and SF4. The generated fluorine ions, SF5, SF4 and low-fluorine sulfides further react with metal tungsten to generate WF6 specialty gas, which not only realizes the utilization of fluorine resources of SF6, but also replaces highly toxic fluorine gas with non-toxic SF6 exhaust gas in the plasma reactor for reaction, thereby ensuring safe operation and low energy consumption.

Abstract: Disclosed are a tungsten hexafluoride preparation method and apparatus based on photoelectric synergy. A photocatalyst and metal tungsten are sequentially filled in a discharge area of a plasma reactor in a direction of gas entry, and the discharge area of the plasma reactor is irradiated with light at the same time; the background gas generates a large amount of plasma in the discharge area, SF6 undergoes decomposition under the synergistic effect of photocatalysis and plasma, SF6 is decomposed to generate fluorine atoms and low-fluorine sulfides such as SF5 and SF4. The generated fluorine ions, SF5, SF4 and low-fluorine sulfides further react with metal tungsten to generate WF6 specialty gas, which not only realizes the utilization of fluorine resources of SF6, but also replaces highly toxic fluorine gas with non-toxic SF6 exhaust gas in the plasma reactor for reaction, thereby ensuring safe operation and low energy consumption.

Abstract: A system includes an inertial navigation system module (INS module) that detects vehicle yaw rates and vehicle lateral speeds, a controller circuit communicatively coupled with the INS module. The controller circuit determines a tire cornering stiffness (Cf, Cr) based on vehicle physical parameters and vehicle dynamic parameters. The controller circuit determines a vehicle moment of inertia (Iz) based on the vehicle physical parameters, the vehicle dynamic parameters, and the tire cornering stiffness (Cf, Cr).

Abstract: This document describes techniques and systems for selecting a parking space using a probabilistic approach. An example system includes a processor that can determine whether multiple parking spaces are available in proximity to a host vehicle using sensor data. Parking-space characteristics (e.g., a width, entry turning radius, and longitudinal distance to the parking space) of each available parking space are determined using the sensor data. The processor can then choose a selected parking space among the multiple parking spaces based on the parking-space characteristics. The processor or another processor can then control the host vehicle to park in the selected parking space using an assisted-driving or autonomous-driving system. In this way, the described system can select and navigate to a parking space using a probabilistic approach. The processor can choose the parking space and parking maneuver based on programmable and customizable parking-space characteristics in some implementations.

Abstract: A method and a device for preparing MoF6 based on plasma activation of SF6. The method includes the following steps: S1, filling a discharge area of a plasma reactor with molybdenum powder; S2, introducing an inert gas and an SF6 gas into the discharge area of the plasma reactor, where the inert gas is ionized into plasma, and the SF6 gas is ionized into fluorine atoms and low-fluorine sulfides after being activated by the plasma; and S3, generating an MoF6 gas and sulfur elements through reaction of the fluorine atoms and the low-fluorine sulfides with the molybdenum powder.

Abstract: A method of providing evasive steering assist (ESA) includes storing yaw rate data related to a host vehicle, wherein yaw rate data includes a yaw rate stored at each time step from an initial time step [0] to a current time step [n]. The method further includes determining whether to initiate ESA, wherein in response to a determination to initiate ESA, the method includes calculating a current position, a current heading angle, a destination position, and a destination heading angle, wherein the stored yaw rate data is utilized to determine the current heading angle and the destination heading angle. The method further includes generating an evasive steering assist (ESA) output based on the current position, the current heading angle, the destination position, and the destination heading angle.

Abstract: Evasive steering assist (ESA) systems and methods for a vehicle utilize a set of vehicle perception systems configured to detect an object in a path of the vehicle, a driver interface configured to receive steering input from a driver of the vehicle via a steering system of the vehicle, a set of steering sensors configured to measure a set of steering parameters, and a controller configured to determine a set of driver-specific threshold values for the set of steering parameters, compare the measured set of steering parameters and the set of driver-specific threshold values to determine whether to engage/enable an ESA feature of the vehicle, and in response to engaging/enabling the ESA feature of the vehicle, command the steering system to assist the driver in avoiding a collision with the detected object.

Abstract: Evasive steering assist (ESA) systems and methods for a vehicle utilize a set of vehicle perception systems configured to detect an object in a path of the vehicle, a driver interface configured to receive steering input from a driver of the vehicle via a steering system of the vehicle, a set of steering sensors configured to measure a set of steering parameters, and a controller configured to determine a set of driver-specific threshold values for the set of steering parameters, compare the measured set of steering parameters and the set of driver-specific threshold values to determine whether to engage/enable an ESA feature of the vehicle, and in response to engaging/enabling the ESA feature of the vehicle, command the steering system to assist the driver in avoiding a collision with the detected object.

Abstract: The techniques and systems herein enable ESA modification based on manual steering inputs. Specifically, a score is determined for a manual steering input to a host vehicle while an ESA is actively applying an ESA steering input to the host vehicle. The score quantifies an amount of additional steering input relative to the ESA steering input (e.g. additional steering angle, steering wheel torque). The ESA steering input is maintained, modified, or canceled based on the score. By doing so, the system is able to effectively adapt the ESA to the manual steering inputs thereby allowing for effective collision mitigation while ensuring that the vehicles operate as intended by the drivers.

Abstract: This document describes techniques and systems for selecting a parking space using a probabilistic approach. An example system includes a processor that can determine whether multiple parking spaces are available in proximity to a host vehicle using sensor data. Parking-space characteristics (e.g., a width, entry turning radius, and longitudinal distance to the parking space) of each available parking space are determined using the sensor data. The processor can then choose a selected parking space among the multiple parking spaces based on the parking-space characteristics. The processor or another processor can then control the host vehicle to park in the selected parking space using an assisted-driving or autonomous-driving system. In this way, the described system can select and navigate to a parking space using a probabilistic approach. The processor can choose the parking space and parking maneuver based on programmable and customizable parking-space characteristics in some implementations.

Abstract: Techniques and systems are described that enable evasive steering assist (ESA) with a pre-active phase. An ESA system predicts that a collision with an object is imminent and enters a pre-active phase. The pre-active phase causes a required drop in steering force to occur prior to determining that the collision is imminent. At a later time, the ESA system determines that the collision is imminent and enacts an active phase. The active phase causes a steering force effective to avoid the collision. By enacting the pre-active phase prior to the determination of the imminent collision, the ESA system may provide the additional steering force needed to avoid the collision without delay while simultaneously shielding a driver of vehicle from feeling the drop in steering force.

Abstract: Evasive steering assist (ESA) systems and methods for a vehicle utilize a set of vehicle perception systems configured to detect an object in a path of the vehicle, a driver interface configured to receive steering input from a driver of the vehicle via a steering system of the vehicle, a set of steering sensors configured to measure a set of steering parameters, and a controller configured to determine a set of driver-specific threshold values for the set of steering parameters, compare the measured set of steering parameters and the set of driver-specific threshold values to determine whether to engage/enable an ESA feature of the vehicle, and in response to engaging/enabling the ESA feature of the vehicle, command the steering system to assist the driver in avoiding a collision with the detected object.

Abstract: A vehicle control system includes a controller circuit in communication with a steering sensor and one or more perception sensors. The steering sensor is configured to detect a steering torque of a steering wheel of a host vehicle. The one or more perception sensors are configured to detect an environment proximate the host vehicle. The controller circuit is configured to determine when an operator of the host vehicle requests a take-over from fully automated control of the host vehicle based on the steering sensor. The controller circuit classifies the take-over request based on the steering sensor.

Abstract: A method of providing evasive steering assist (ESA) includes storing yaw rate data related to a host vehicle, wherein yaw rate data includes a yaw rate stored at each time step from an initial time step [0] to a current time step [n]. The method further includes determining whether to initiate ESA, wherein in response to a determination to initiate ESA, the method includes calculating a current position, a current heading angle, a destination position, and a destination heading angle, wherein the stored yaw rate data is utilized to determine the current heading angle and the destination heading angle. The method further includes generating an evasive steering assist (ESA) output based on the current position, the current heading angle, the destination position, and the destination heading angle.

Abstract: Techniques and systems are described that enable evasive steering assist (ESA) with a pre-active phase. An ESA system predicts that a collision with an object is imminent and enters a pre-active phase. The pre-active phase causes a required drop in steering force to occur prior to determining that the collision is imminent. At a later time, the ESA system determines that the collision is imminent and enacts an active phase. The active phase causes a steering force effective to avoid the collision. By enacting the pre-active phase prior to the determination of the imminent collision, the ESA system may provide the additional steering force needed to avoid the collision without delay while simultaneously shielding a driver of vehicle from feeling the drop in steering force.

Abstract: Techniques and systems are described that enable evasive steering assist (ESA) with a pre-active phase. An ESA system predicts that a collision with an object is imminent and enters a pre-active phase. The pre-active phase causes a required drop in steering force to occur prior to determining that the collision is imminent. At a later time, the ESA system determines that the collision is imminent and enacts an active phase. The active phase causes a steering force effective to avoid the collision. By enacting the pre-active phase prior to the determination of the imminent collision, the ESA system may provide the additional steering force needed to avoid the collision without delay while simultaneously shielding a driver of vehicle from feeling the drop in steering force.

Abstract: A system includes an inertial navigation system module (INS module) that detects vehicle yaw rates and vehicle lateral speeds, a controller circuit communicatively coupled with the INS module. The controller circuit determines a tire cornering stiffness (Cf, Cr) based on vehicle physical parameters and vehicle dynamic parameters. The controller circuit determines a vehicle moment of inertia (Iz) based on the vehicle physical parameters, the vehicle dynamic parameters, and the tire cornering stiffness (Cf, Cr).

Abstract: Techniques and systems are described that enable evasive steering assist (ESA) with a pre-active phase. An ESA system predicts that a collision with an object is imminent and enters a pre-active phase. The pre-active phase causes a required drop in steering force to occur prior to determining that the collision is imminent. At a later time, the ESA system determines that the collision is imminent and enacts an active phase. The active phase causes a steering force effective to avoid the collision. By enacting the pre-active phase prior to the determination of the imminent collision, the ESA system may provide the additional steering force needed to avoid the collision without delay while simultaneously shielding a driver of vehicle from feeling the drop in steering force.

Abstract: A system includes an inertial navigation system module (INS module) that detects vehicle yaw rates and vehicle lateral speeds, a controller circuit communicatively coupled with the INS module. The controller circuit determines a tire cornering stiffness (Cf, Cr) based on vehicle physical parameters and vehicle dynamic parameters. The controller circuit determines a vehicle moment of inertia (Iz) based on the vehicle physical parameters, the vehicle dynamic parameters, and the tire cornering stiffness (Cf, Cr).