Abstract: In an exemplary embodiment, a system is provided that includes one or more first sensors, one or more second sensors, and a processor. The one or more first sensors are disposed onboard a host vehicle, and are configured to at least facilitate obtaining first sensor data with respect to the host vehicle. The one or more second sensors are disposed onboard the host vehicle and configured to at least facilitate obtaining second sensor data with respect to a target vehicle that is in proximity to the host vehicle. The processor is coupled to the one or more first sensors and the one or more second sensors, and is configured to at least facilitate: creating an adaptive prediction horizon that includes a probabilistic time-to-event horizon with respect to possible vehicle events between the host vehicle and the target vehicle; and controlling the host vehicle based on the probabilistic time-to-event horizon.

Abstract: A vehicle includes an engine, an exhaust system having a selective catalytic reduction (SCR) device, a NOx sensor, and first and second controllers. The first controller compares estimated NOx levels from an SCR model to actual levels from the sensor, and updates the SCR model when the values differ from each other. The second controller evaluates an updating frequency of the SCR model, and executes a control action when the frequency is excessive. A control system includes the sensor and two controllers noted above. A method of diagnosing the exhaust system includes measuring NOx gasses downstream of the SCR device, updating the SCR model when the deviation is present between estimated and measured NOx levels, comparing estimated ammonia (NH3) storage levels from the SCR model to modeled or estimated upper and lower NH3 storage level boundaries to determine excessive updating, and setting a diagnostic code when excessive updating is present.