Abstract: A method for managing a hand-over from an Automated Driving System (ADS) to driver of vehicle, where ADS includes ADS feature being associated with first set of pre-cautionary constraints out of plurality of pre-cautionary constraints imposed by Pre-cautionary Safety (PCS) module while ADS feature controls vehicle. The method includes obtaining request to deactivate ADS feature, and providing partial control of vehicle to driver in order to enable manual driver operation of vehicle based on obtained request. The method includes monitoring manual driver operation of vehicle for a time period, and evaluating monitored manual driver operation of vehicle against second set of pre-cautionary constraints during time period. Then, based on evaluation, the method includes deactivating second set of pre-cautionary constraints upon expiry of time period if manual driver operation passes evaluation, or providing control of vehicle to ADS if manual driver operation fails evaluation.

Abstract: The present disclosure relates to a method for controlling a control system of a vehicle having a first driver support module (e.g. ADAS feature) and a second driver support module (e.g. “under-development” ADS feature). The first driver support module and the second driver support module are capable of operation within an overlapping operational design domain (ODD). The method includes obtaining sensor data including information about a surrounding environment of the vehicle and determining fulfilment of the overlapping ODD based on the obtained sensor data. Further, if the overlapping ODD is fulfilled, the method includes switching between a first configuration where the first driver support module is active and the second driver support module is inactive, and a second configuration where the first driver support module is inactive and the second driver support module is active.

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: The present disclosure relates to a method to control a vehicle system. The method includes detecting a deviating vehicle having at least one of a deviating behaviour and a deviating vehicle property by means of a perception system of a first vehicle, wherein the perception system includes at least one sensor device configured to monitor a surrounding environment of the first vehicle; assigning a deviating vehicle classification to the deviating vehicle based on the deviating behaviour and/or deviating vehicle property; determining at least one second vehicle to receive information relating to the deviating vehicle; and transmitting to each determined second vehicle a set of information relating to the deviating vehicle, said set of information including at least one of the deviating vehicle classification and a predetermined instruction to be performed by the determined second vehicle, wherein the predetermined instruction is dependent on the deviating vehicle classification.

Abstract: An MRM planning system for supporting planning of a minimal risk maneuver, MRM, of an Automated Driving System. The system determines a remaining distance to an upcoming operational design domain, ODD, exit at which an ODD defined for the autonomous driving mode is planned to end. The system further assesses, when the remaining distance is shorter than a predeterminable distance, data associated with a stretch of road leading up to the ODD exit. The system identifies based on the assessment of the data, a favourable region along the stretch of road for potentially bringing the vehicle to a stop deemed safe subsequent a potential MRM being triggered. The system determines a timing at which to initiate an autonomous driving mode DDT termination procedure at which to provide a handover request prompting an occupant of the vehicle to take over the DDT.

Abstract: A driving mode transitioning system and method for supporting transitioning to an unsupervised autonomous driving mode of an Automated Driving System, ADS, of a vehicle. The driving mode transitioning system obtains vehicle situational data indicating a state of vehicle surroundings along with position and heading of the vehicle; determines based on the obtained vehicle situational data, that unsupervised driving conditions of an unsupervised driving mode-related driving policy pertinent an unsupervised autonomous driving mode of the ADS, are complied with; determines that the ADS has active a supervised driving mode; implements the unsupervised driving mode-related driving policy to govern the supervised driving mode; and enables the unsupervised autonomous driving mode to be activated for the ADS, when positioning and/or velocity of the vehicle has reached compliance with unsupervised dynamic driving conditions of the unsupervised driving mode-related driving policy.

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: The present disclosure relates to a control device and method for estimating a drivable space in a surrounding environment of a vehicle. In particular, the disclosure relates to a “free space estimation” solution with reduced validation effort. The control device includes one or more processors adapted to obtain sensor data, determine a surface flatness MF and a surface texture MR of at least one portion of the surrounding environment by means of two independent algorithms, and defining a drivable space based on obtained values.

Abstract: Described herein is a method and system for assisting a driver of a vehicle (1) to drive with precaution. Vehicle environment monitoring sensors (3a, 3b) determines other road users and particular features associated with a traffic situation of the vehicle (1) and hypotheses are applied related to hypothetical threats that may arise based thereupon. A driver level of attention, required to handle the hypothetical threats, and a time until that level will be required is estimated. A current driver level of attention is derived, from driver-monitoring sensors (4). If determined that the estimated required driver level of attention exceeds the current and the time until the estimated driver level of attention will be required is less than a threshold-time (tthres), there is produced at least one of visual (5), acoustic (6) and haptic (7) information to a vehicle driver environment, and/or triggered at least one of automated braking (8) and steering (9) of the vehicle (1).

Abstract: A method for managing a hand-over from an Automated Driving System (ADS) to driver of vehicle, where ADS includes ADS feature being associated with first set of pre-cautionary constraints out of plurality of pre-cautionary constraints imposed by Pre-cautionary Safety (PCS) module while ADS feature controls vehicle. The method includes obtaining request to deactivate ADS feature, and providing partial control of vehicle to driver in order to enable manual driver operation of vehicle based on obtained request. The method includes monitoring manual driver operation of vehicle for a time period, and evaluating monitored manual driver operation of vehicle against second set of pre-cautionary constraints during time period. Then, based on evaluation, the method includes deactivating second set of pre-cautionary constraints upon expiry of time period if manual driver operation passes evaluation, or providing control of vehicle to ADS if manual driver operation fails evaluation.

Abstract: A method performed by a vehicle system for handling conditions of a road on which a vehicle travels. The vehicle system detect that a first part of the road has a first condition which is different from a second condition of a second part of the road. The vehicle system estimates friction of the first part and evaluates the estimated friction. The vehicle system determines that the vehicle's motion should be adjusted when a result of the evaluation indicates that the estimated friction of the first part of the road affects the vehicle's expected motion, and initiates adjustment of the vehicle's motion on the road as determined.

Abstract: The present disclosure relates to a method to control a vehicle system. The method includes detecting a deviating vehicle having at least one of a deviating behaviour and a deviating vehicle property by means of a perception system of a first vehicle, wherein the perception system includes at least one sensor device configured to monitor a surrounding environment of the first vehicle; assigning a deviating vehicle classification to the deviating vehicle based on the deviating behaviour and/or deviating vehicle property; determining at least one second vehicle to receive information relating to the deviating vehicle; and transmitting to each determined second vehicle a set of information relating to the deviating vehicle, said set of information including at least one of the deviating vehicle classification and a predetermined instruction to be performed by the determined second vehicle, wherein the predetermined instruction is dependent on the deviating vehicle classification.

Abstract: The present disclosure relates to a method for controlling a control system of a vehicle having a first driver support module (e.g. ADAS feature) and a second driver support module (e.g. “under-development” ADS feature). The first driver support module and the second driver support module are capable of operation within an overlapping operational design domain (ODD). The method includes obtaining sensor data including information about a surrounding environment of the vehicle and determining fulfilment of the overlapping ODD based on the obtained sensor data. Further, if the overlapping ODD is fulfilled, the method includes switching between a first configuration where the first driver support module is active and the second driver support module is inactive, and a second configuration where the first driver support module is inactive and the second driver support module is active.

Abstract: Method for controlling a vehicle, comprising: identifying an upcoming curve and determining its properties; determining current vehicle speed, vv, estimating friction, ?e, between a tire of the vehicle and the road; estimating maximum allowable vehicle speed, vmax_e, when entering the curve based on the properties, speed and friction; if the current vehicle speed is higher than the estimated maximum allowable vehicle speed, determining that a friction measurement is required; if distance, dv, between the vehicle and a curve entrance is higher than a predetermined threshold distance, dT, and if a braking action is detected, performing a friction measurement during the braking action to determine current friction, ?c; if a distance between the vehicle and the curve entrance is lower than the predetermined threshold distance, performing a friction measurement to determine a current friction; and determining a maximum allowable vehicle speed vmax_d based on the curve radius, speed and friction.

Abstract: A method for collecting and storing vehicle sensor data of at least one sensing system of a vehicle in order to detect an incident, accident and/or scam, said method comprising the steps of: (1) continuously collecting and storing a first set of vehicle sensor data for a preceding first pre-definable time period at least when the vehicle is in motion and/or when a door or trunk of the vehicle is open, (2) collecting and storing a second set of vehicle sensor data for a coming second pre-definable time period when at least one of the following occurs: the vehicle is brought to standstill, the door or trunk of the vehicle is being closed, or the vehicle drives away from standstill after being parked. Furthermore, the present disclosure relates to a corresponding system, computer product and a computer-readable storage medium storing a program which causes a computer to execute the method.

Abstract: Described herein is a method and system for assisting a driver of a vehicle (1) to drive with precaution. Vehicle environment monitoring sensors (3a, 3b) determines other road users and particular features associated with a traffic situation of the vehicle (1) and hypotheses are applied related to hypothetical threats that may arise based thereupon. A driver level of attention, required to handle the hypothetical threats, and a time until that level will be required is estimated. A current driver level of attention is derived, from driver-monitoring sensors (4). If determined that the estimated required driver level of attention exceeds the current and the time until the estimated driver level of attention will be required is less than a threshold-time (tthres), there is produced at least one of visual (5), acoustic (6) and haptic (7) information to a vehicle driver environment, and/or triggered at least one of automated braking (8) and steering (9) of the vehicle (1).

Abstract: A method performed by a vehicle system for handling conditions of a road on which a vehicle travels. The vehicle system detect that a first part of the road has a first condition which is different from a second condition of a second part of the road. The vehicle system estimates friction of the first part and evaluates the estimated friction. The vehicle system determines that the vehicle's motion should be adjusted when a result of the evaluation indicates that the estimated friction of the first part of the road affects the vehicle's expected motion, and initiates adjustment of the vehicle's motion on the road as determined.

Abstract: Method for controlling a vehicle, comprising: identifying an upcoming curve and determining its properties; determining current vehicle speed, vv, estimating friction, ?e, between a tire of the vehicle and the road; estimating maximum allowable vehicle speed, vmax_e, when entering the curve based on the properties, speed and friction; if the current vehicle speed is higher than the estimated maximum allowable vehicle speed, determining that a friction measurement is required; if distance, dv, between the vehicle and a curve entrance is higher than a predetermined threshold distance, dT, and if a braking action is detected, performing a friction measurement during the braking action to determine current friction, ?c; if a distance between the vehicle and the curve entrance is lower than the predetermined threshold distance, performing a friction measurement to determine a current friction; and determining a maximum allowable vehicle speed vmax_d based on the curve radius, speed and friction.

Abstract: A method for collecting and storing vehicle sensor data of at least one sensing system of a vehicle in order to detect an incident, accident and/or scam, said method comprising the steps of: (1) continuously collecting and storing a first set of vehicle sensor data for a preceding first pre-definable time period at least when the vehicle is in motion and/or when a door or trunk of the vehicle is open, (2) collecting and storing a second set of vehicle sensor data for a coming second pre-definable time period when at least one of the following occurs: the vehicle is brought to standstill, the door or trunk of the vehicle is being closed, or the vehicle drives away from standstill after being parked. Furthermore, the present disclosure relates to a corresponding system, computer product and a computer-readable storage medium storing a program which causes a computer to execute the method.