Abstract: Provided is a processing system to effectuate sensor processing of obstacle information for use in autonomous driving. The apparatus includes a communication module that receives sensor data collected by multiple sensors disposed to capture sensor data in a specified region to detect the obstacles. Additionally, a health status detection modules, in the system, determine the health status of the system and the sensors based on information from the sensors and a communication latency between the communication module and the sensors. The system also includes a sensor processing module to process the sensor data to identify anomalies in the data due to harsh conditions to eliminate any erroneous data.

Abstract: A local computing device receives lidar data and radar data from one or more road side units (RSUs). The local computing device performs ground plane removal based on range to detect targets and perform local sensor fusion. The local computing device may use a global nearest neighbor (GNN) algorithm and a Kalman filter. The local computing device may create an HD map or the data may be brought together with other target data at a central computing device to produce the HD map. Vehicle position and motion are controlled based on the HD map. Detecting and removing a ground plane based on range are illustrated. Fusion, ground plane removal, and delay filtering may be used in various contexts, such as roadways, parking lots and shipping yards.

Abstract: Provided is a processing system to effectuate sensor processing of obstacle information for use in autonomous driving. The apparatus includes a communication module that receives sensor data collected by multiple sensors disposed to capture sensor data in a specified region to detect the obstacles. Additionally, a health status detection modules, in the system, determine the health status of the system and the sensors based on information from the sensors and a communication latency between the communication module and the sensors. The system also includes a sensor processing module to process the sensor data to identify anomalies in the data due to harsh conditions to eliminate any erroneous data.

Abstract: A device includes: downstream air-fuel ratio feedback control unit that performs feedback control of an upstream target air-fuel ratio so that a downstream air-fuel ratio detected by a downstream air-fuel ratio detecting unit coincides with a downstream target air-fuel ratio; a target air-fuel ratio varying unit that varies the upstream target air-fuel ratio at the time of diagnosing degradation of a ternary catalyst; and a catalyst degradation judging unit that judges catalyst degradation from the behavior of the downstream air-fuel ratio at the time of diagnosing degradation of the ternary catalyst. When diagnosing degradation of the ternary catalyst, the downstream air-fuel ratio feedback control unit is stopped or its control constant is set at a smaller value. Thus, when varying the air-fuel ratio for diagnosing catalyst degradation, interference between downstream air-fuel ratio feedback and upstream air-fuel ratio feedback is prevented and catalyst degradation is accurately diagnosed.

Abstract: A device includes: downstream air-fuel ratio feedback control unit that performs feedback control of an upstream target air-fuel ratio so that a downstream air-fuel ratio detected by a downstream air-fuel ratio detecting unit coincides with a downstream target air-fuel ratio; a target air-fuel ratio varying unit that varies the upstream target air-fuel ratio at the time of diagnosing degradation of a ternary catalyst; and a catalyst degradation judging unit that judges catalyst degradation from the behavior of the downstream air-fuel ratio at the time of diagnosing degradation of the ternary catalyst. When diagnosing degradation of the ternary catalyst, the downstream air-fuel ratio feedback control unit is stopped or its control constant is set at a smaller value. Thus, when varying the air-fuel ratio for diagnosing catalyst degradation, interference between downstream air-fuel ratio feedback and upstream air-fuel ratio feedback is prevented and catalyst degradation is accurately diagnosed.

Abstract: A control apparatus for an internal combustion engine can detect degradation of a three-way catalyst with high accuracy without causing deterioration in an exhaust. A pair of first and second air fuel ratio detectors are disposed in an exhaust system at locations upstream and downstream of the three-way catalyst for detecting a first and a second air fuel ratio of an exhaust gas. A target oxygen change amount calculator calculates a target oxygen change amount of the three-way catalyst, and an oxygen change amount calculator calculates an oxygen change amount of the three-way catalyst from an amount of exhaust gas passing through the three-way catalyst and the first air fuel ratio. An air fuel ratio operator inversely controls the air fuel ratio to a rich side and a lean side with a prescribed air fuel ratio width each time the oxygen change amount reaches a target oxygen change amount.

Abstract: A control apparatus for an internal combustion engine can detect degradation of a three-way catalyst with high accuracy without causing deterioration in an exhaust. A pair of first and second air fuel ratio detectors are disposed in an exhaust system at locations upstream and downstream of the three-way catalyst for detecting a first and a second air fuel ratio of an exhaust gas. A target oxygen change amount calculator calculates a target oxygen change amount of the three-way catalyst, and an oxygen change amount calculator calculates an oxygen change amount of the three-way catalyst from an amount of exhaust gas passing through the three-way catalyst and the first air fuel ratio. An air fuel ratio operator inversely controls the air fuel ratio to a rich side and a lean side with a prescribed air fuel ratio width each time the oxygen change amount reaches a target oxygen change amount.