Abstract: The present invention relates to methods and systems that utilize the production vehicles to develop new perception features related to new sensor hardware as well as new algorithms for existing sensors by using self-supervised continuous training. To achieve this the production vehicle's own perception output is fused with other sensors in order to generate a bird's eye view of the road scenario over time. The bird's eye view is synchronized with buffered sensor data that was recorded when the road scenario took place and subsequently used to train a new perception model to output the bird's eye view directly.

Abstract: A method for adaptive high beam control for a vehicle is disclosed. At first, a pose of the vehicle is obtained. A 3D road model of a surrounding environment of the vehicle is then obtained based on HD map data and the obtained vehicle pose. Then, a 3D region of interest (3D-ROI) in the form of voxels defining a volume along the obtained 3D road model is generated. Further, a dataset is formed for processing by an AHBC unit, wherein the formed dataset is based on the generated 3D-ROI and perception data indicative of detected road users in the surrounding environment. The perception data is based on sensor data obtained from sensors for monitoring a surrounding environment of the vehicle. Finally, the formed dataset is transmitted to the AHBC unit so to control the illumination of one or more headlights of the vehicle.

Abstract: The present invention relates to methods and systems that utilize the production vehicles to develop new perception features related to new sensor hardware as well as new algorithms for existing sensors by using self-supervised continuous training. To achieve this the production vehicle's own perception output is fused with other sensors in order to generate a bird's eye view of the road scenario over time. The bird's eye view is synchronized with buffered sensor data that was recorded when the road scenario took place and subsequently used to train a new perception model to output the bird's eye view directly.

Abstract: A method and arrangement are disclosed for allowing secondary tasks during semi-automated driving of a road vehicle having an infotainment system including one or more display units, and a semi-automated driver assist system having one or more sensors for acquiring data of a road ahead. A confidence of the ability of the semi-automated driver assist system to control the road vehicle autonomously is determined from at least acquired data of the road ahead. A viewing direction of a driver of the road vehicle is determined using a driver monitoring camera. Autonomous control is allowed if the viewing direction of the driver is determined to be towards the road ahead or towards a display unit of the infotainment system and the confidence is determined to be above a confidence threshold, otherwise any ongoing autonomous control is cancelled and the driver urged to assume control of the road vehicle.

Abstract: A method is disclosed for controlling movement of a group of vehicles that includes a lead vehicle and one or more additional vehicles. The lead vehicle includes a first control unit and a first wireless communication device. Each additional vehicle includes a second control unit adapted to in an at least partly automated mode have the movement of the additional vehicle controlled by the first control unit of the lead vehicle. Each additional vehicle also includes a second wireless communication device for communication with the first communication device of the lead vehicle. The vehicles of the group are moveable relative to each other within the group as regards longitudinal position, lateral position, speed and/or acceleration. The group of vehicles are controllable by the first control unit of the lead vehicle so as to move as a body having a variable shape, thereby cooperating with each other.

Abstract: The present invention relates to a control system for travel in a platoon (1), the platoon comprising a lead vehicle (L) and one or more following vehicles (F1, F2, . . . , Fi-1, Fi, . . . , Fn) automatically following the lead vehicle, the lead vehicle controlling the movement of the following vehicles, each of the following vehicles and the lead vehicle comprising communication means (10, 12), wherein the control system comprises a common time base, which allows a control command proposing an action to be communicated from the lead vehicle (L) to at least one of the following vehicles (F1, F2, . . . , Fi-1, Fi, . . . , Fn) in advance of a control point (tc). The invention further relates to the use of a common time base in a platoon and to a method to control travelling in a platoon.

Abstract: A safety arrangement and method are described for controlling automatic travel of a fully automated vehicle. One or more forward-looking detection systems are provided for detecting objects in a future path of the vehicle. A control unit is configured to determine a detection confidence for the detected objects. The control unit is further operable to, upon low confidence for existence of a detected object, control a brake system of the vehicle to apply a predetermined limited amount of braking until high confidence is obtained for existence or non-existence of the previously detected object. Thereafter the control unit is further operable to apply full braking if high confidence is obtained for existence of the previously detected object and to discontinue braking if high confidence is obtained for non-existence of the previously detected object.

Abstract: A method is disclosed for controlling movement of a group of vehicles that includes a lead vehicle and one or more additional vehicles. The lead vehicle includes a first control unit and a first wireless communication device. Each additional vehicle includes a second control unit adapted to in an at least partly automated mode have the movement of the additional vehicle controlled by the first control unit of the lead vehicle. Each additional vehicle also includes a second wireless communication device for communication with the first communication device of the lead vehicle. The vehicles of the group are moveable relative to each other within the group as regards longitudinal position, lateral position, speed and/or acceleration. The group of vehicles are controllable by the first control unit of the lead vehicle so as to move as a body having a variable shape, thereby cooperating with each other.

Abstract: A safety arrangement and method are described for controlling automatic travel of a fully automated vehicle. One or more forward-looking detection systems are provided for detecting objects in a future path of the vehicle. A control unit is configured to determine a detection confidence for the detected objects. The control unit is further operable to, upon low confidence for existence of a detected object, control a brake system of the vehicle to apply a predetermined limited amount of braking until high confidence is obtained for existence or non-existence of the previously detected object. Thereafter the control unit is further operable to apply full braking if high confidence is obtained for existence of the previously detected object and to discontinue braking if high confidence is obtained for non-existence of the previously detected object.

Abstract: The present invention relates to a control system for travel in a platoon (1), the platoon comprising a lead vehicle (L) and one or more following vehicles (F1, F2, . . . , Fi-1, Fi, . . . , Fn) automatically following the lead vehicle, the lead vehicle controlling the movement of the following vehicles, each of the following vehicles and the lead vehicle comprising communication means (10, 12), wherein the control system comprises a common time base, which allows a control command proposing an action to be communicated from the lead vehicle (L) to at least one of the following vehicles (F1, F2, . . . , Fi-1, Fi, . . . , Fn) in advance of a control point (tc). The invention further relates to the use of a common time base in a platoon and to a method to control travelling in a platoon.

Abstract: A system and method for collision warning in a host vehicle including: detecting a collision risk between the host vehicle and an other user of the road with a detection means based on input from at least one sensor which detects at least one parameter related to the other user of the road with respect to the host vehicle; identifying possible options to avoid a collision between the host vehicle and the other user of the road based on input from the detection means, wherein possible options for the host vehicle to avoid a collision are identified as well as possible options for the other user of the road to avoid a collision are identified; calculating among the identified possible options at least one preferred avoidance action in order to avoid a collision between the host vehicle and the other user of the road; and if the at least one preferred avoidance action involves at least one possible option identified for the other user of the road, then generating a warning signal from the host vehicle in a direc

Abstract: A system and method for collision warning in a host vehicle including: detecting a collision risk between the host vehicle and an other user of the road with a detection means based on input from at least one sensor which detects at least one parameter related to the other user of the road with respect to the host vehicle; identifying possible options to avoid a collision between the host vehicle and the other user of the road based on input from the detection means, wherein possible options for the host vehicle to avoid a collision are identified as well as possible options for the other user of the road to avoid a collision are identified; calculating among the identified possible options at least one preferred avoidance action in order to avoid a collision between the host vehicle and the other user of the road; and if the at least one preferred avoidance action involves at least one possible option identified for the other user of the road, then generating a warning signal from the host vehicle in a direc

Abstract: A method and system for autonomous collision avoidance in multiple obstacle scenarios. A forward collision avoidance system detects obstacles in front of a vehicle hosting the system and estimates a position, a velocity and an acceleration of each of the obstacles. The maneuvers which the vehicle is capable of performing that will lead to a collision with each respective obstacle are evaluated separately. The union of maneuvers which will lead to collision with any one of the obstacles is formed. The set of maneuvers which the vehicle is capable of performing through which collision with any of the obstacles may be avoided is established, and the set used for deciding how to avoid or mitigate collision with any one of the obstacles. Finally, a collision avoidance maneuver based on the decision is executed autonomously.

Abstract: The present patent application relates to a method and system for autonomous action in multiple obstacle scenarios in an automotive vehicle forward collision avoidance system. Initially the presence of obstacles in front of a vehicle hosting the system is established. Thereafter the position, velocity and acceleration of the obstacles are estimated. The maneuvers which the vehicle is capable of performing that will lead to a collision with each respective obstacle is evaluated separately. The union of maneuvers which will lead to collision with any one of the obstacles is formed. The set of maneuvers which the vehicle is capable of performing through which collision with any of the obstacles may be avoided is established, and the set used for deciding how to avoid or mitigate collision with any one of the obstacles. Finally a collision avoidance maneuver based on said decision is executed autonomously.

Abstract: A vehicle control system (10) including a vehicle motion control subsystem (12) that has an input receiving an intended driving demand (14) and a plurality of coordinator subsystems (16) for coordinating actuators of the vehicle. The vehicle motion control subsystem (12) communicates with the coordinator subsystems (16) to determine whether a single coordinator subsystem (16) can carry out the intended driving demand (14). The vehicle motion control subsystem (12) will distribute demand signals among one or more of the coordinator subsystems (16) to allow the vehicle to implement the intended driving demand (14).

Abstract: There is provided an automatic collision management system for a vehicle (10), the vehicle (10) including one or more brakes operable when applied to decelerate the vehicle (10). The automatic collision management system includes a sensor arrangement (100) operable to detect closing velocities of one or more oncoming objects substantially in a direction of travel of the vehicle (10), and a processing arrangement (50a, 50b) for receiving information from the sensor arrangement (100) indicative of the detected closing velocities. The processing arrangement (50a, 50b) is operable when the vehicle (10) is travelling below a threshold speed to automatically selectively apply the one or more brakes to decelerate the vehicle (10) in response to the information received from the sensor arrangement (100) for avoiding or mitigating a crash of the vehicle (10) with the one or more oncoming objects.

Abstract: A vehicle control system (10) including a vehicle motion control subsystem (12) that has an input receiving an intended driving demand (14) and a plurality of coordinator subsystems (16) for coordinating actuators of the vehicle. The vehicle motion control subsystem (12) communicates with the coordinator subsystems (16) to determine whether a single coordinator subsystem (16) can carry out the intended driving demand (14). The vehicle motion control subsystem (12) will distribute demand signals among one or more of the coordinator subsystems (16) to allow the vehicle to implement the intended driving demand (14).

Abstract: Methods of performing threat assessment of objects for a vehicle include detecting an object. Kinematics of the vehicle and of the object are determined. A brake threat number and a steering threat number are determined in response to the kinematics of the vehicle and the object. The threat posed by the object is determined in response to the brake threat number and the steering threat number.

Abstract: Methods of performing threat assessment of objects for a vehicle include detecting an object. Kinematics of the vehicle and of the object are determined. A brake threat number and a steering threat number are determined in response to the kinematics of the vehicle and the object. The threat posed by the object is determined in response to the brake threat number and the steering threat number.

Abstract: A vehicle control system (10) including a vehicle motion control subsystem (12) that has an input receiving an intended driving demand (14) and a plurality of coordinator subsystems (16) for coordinating actuators of the vehicle. The vehicle motion control subsystem (12) communicates with the coordinator subsystems (16) to determine whether a single coordinator subsystem (16) can carry out the intended driving demand (14). The vehicle motion control subsystem (12) will distribute demand signals among one or more of the coordinator subsystems (16) to allow the vehicle to implement the intended driving demand (14).