Abstract: A gap selection method performed by a gap selection system for a vehicle. The vehicle travels on a road having a first lane and a second lane adjacent to the first. The vehicle travels in the first lane, a first surrounding vehicle travels in the second lane, a second surrounding vehicle travels in the second lane ahead of the first surrounding vehicle with a first gap between the first and second surrounding vehicles. The method includes determining a first minimum safety margin between the first surrounding vehicle and the vehicle, determining a second minimum safety margin between the second surrounding vehicle and the vehicle, evaluating the first gap by determining a minimum limit for a longitudinal position of the vehicle, determining a maximum limit for a longitudinal position of the vehicle, and determining a lane change appropriateness value of the first gap utilizing the minimum limit and the maximum limit.

Abstract: A vehicle, a method and a vehicle brake-control-system are provided. The host vehicle comprises a steering wheel, a vehicle brake system, at least one sensor arranged to monitor a sensor monitoring area of a host vehicle surrounding and an autonomous operating arrangement which is arranged to control steering and velocity of the host vehicle in an autonomous operating mode at least partly based on information received from the at least one sensor. The vehicle brake-control-system is arranged to determine if the steering wheel is manually operated when the vehicle is operating in the autonomous driving mode, and if so control the vehicle brake system to perform braking of the host vehicle.

Abstract: A lane change control arrangement, vehicle, and method are described. The lane change control arrangement is arranged to adjust a host vehicle velocity in accordance with a first velocity profile to expand a detectable zone to cover a previously undetectable zone of a second road lane, detect whether a vehicle is present in the previously undetectable zone, determine that a lane change is possible, or determine that a lane change is unsuitable using the second road lane and issue a control signal to the vehicle drive arrangement to adjust the host vehicle velocity until a safety distance is established between the host vehicle and the detected vehicle, and issue a control signal to the vehicle drive arrangement to perform the lane change.

Abstract: A unit for improving positioning accuracy of an autonomous vehicle driving on a road includes a first computation unit configured to compute a first position of the vehicle at a time T1 using data from at least an inertial measurement unit (IMU); a second computation unit configured to compute a second position of the vehicle at the time T1 using data from at least one external sensor and a map; a comparison unit configured to compute a position difference between the computed first and second positions; a correction unit configured to correct an error parameter of the IMU, wherein the error parameter is used for correcting a third position of the vehicle computed by the first computation unit at a time T2 with the computed position difference at time T1, if the second computation unit is unable to compute a fourth position of the vehicle at the time T2.

Abstract: An object detecting arrangement is configured to detect objects in a field surrounding a vehicle hosting the arrangement. The arrangement comprises an imaging unit configured to capture images of the field. The imaging unit is arranged at the vehicle such that the field is in a direction of at least one of a side of the vehicle, and a rear of the vehicle. The arrangement further comprises a processing unit configured to detect objects in the field. The processing unit is configured to determine an object detecting capability. In addition, the arrangement comprises an illumination unit configured to illuminate the field when the object detecting capability is lower than a first predetermined threshold value. The present disclosure also relates to a lane keeping arrangement, a positioning arrangement and a method of detecting objects.

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 method and arrangement for determining safe vehicle trajectories for a vehicle equipped with sensors for monitoring a surrounding environment, taking into account sensing limitations, as well as a vehicle including such an arrangement. The method includes detecting observable obstacles, detecting unobservable areas, adding virtual obstacles in unobservable areas, associating each observable obstacle and each virtual obstacle with one or more hypothetical events and assigning an occurrence probability to each combination of obstacle and one or more events, and determining safe vehicle trajectories based on both observable obstacles and virtual obstacles and the occurrence probability of each combination of obstacle and one or more events.

Abstract: A vehicle, vehicle system and method for increasing at least one of safety and comfort during autonomous driving is provided. The vehicle system includes an autonomous drive arrangement with multiple sensors, and a vehicle control arrangement. The vehicle system is configured to determine an estimated probability that at least one sensor will become unavailable, or an estimated time/distance ahead until at least one sensor is determined to become unavailable. The vehicle system is further configured to activate at least one countermeasure based on at least one of the estimated probability, the estimated time and the estimated distance.

Abstract: A method for transition between driving modes of a vehicle is disclosed. The driving modes include an autonomous driving (AD) mode, a partly autonomous driving (PAD) mode and a manual driving (MD) mode. A transition from the PAD mode to the AD mode is performed by enabling the AD mode. A transition from the AD mode to the PAD mode is performed by releasing a steering wheel lock when the PAD mode is in an enabled state. A transition from the MD mode to the AD mode is performed by enabling the AD mode. A transition from the AD mode to the MD mode is performed by releasing the steering wheel lock when the PAD mode is in a disabled state. A system for performing the method and a vehicle including the system are also disclosed.

Abstract: The present disclosure relates to a method of trajectory planning for yielding maneuvers for an ego vehicle (E). The method may include determining a longitudinal safety corridor for the ego vehicle (E) that allows the ego vehicle (E) to longitudinally position itself between two or more surrounding objects, determining a longitudinal trajectory for the ego vehicle (E) respecting bounds given by the longitudinal safety corridor, determining a lateral safety corridor for the ego vehicle (E) using the longitudinal trajectory to determine upper and lower bounds on a lateral position of the ego vehicle (E), and determining a lateral trajectory for the ego vehicle (E) respecting bounds given by the lateral safety corridor. The present disclosure also relates to an Advanced Driver Assistance System arranged to perform the method and a vehicle (E) comprising such a system.

Abstract: The present disclosure relates to a child transport device for a child. The child transport device is transformable between a vehicle configuration adapted for attachment in a vehicle, and a carrying configuration adapted for carrying the child against a body of a person. The child transport device comprises a main body, which comprises a safety harness adapted to attach the child to the main body. In the vehicle configuration, a front portion of the main body is adapted to be supported by a first support element, and a rear portion of the main body is adapted to be supported by a second support element, the main body being adapted to be tensioned, such that it when tensioned bridges a distance between the first and second support elements. The disclosure further relates to a method of attaching the child transport device to a vehicle.

Abstract: A method for transition between driving modes of a vehicle is disclosed. The driving modes include an autonomous driving (AD) mode, a partly autonomous driving (PAD) mode and a manual driving (MD) mode. A transition from the PAD mode to the AD mode is performed by enabling the AD mode. A transition from the AD mode to the PAD mode is performed by releasing a steering wheel lock when the PAD mode is in an enabled state. A transition from the MD mode to the AD mode is performed by enabling the AD mode. A transition from the AD mode to the MD mode is performed by releasing the steering wheel lock when the PAD mode is in a disabled state. A system for performing the method and a vehicle including the system are also disclosed.

Abstract: A vehicle sensor diagnosis system and method, and a vehicle including such a system are provided. The vehicle sensor diagnosis system is configured to predict upcoming vehicle surrounding conditions along at least a section of a host vehicle route based on database information on the host vehicle surroundings along the section and information on a current host vehicle surrounding, estimate an expected level of sensor performance for the route section based on the prediction, assess the level of sensor performance detected during host vehicle travel along the host vehicle route section, assess if a difference between the estimated level of sensor performance and the detected level of sensor performance for the host vehicle route section exceeds a first threshold difference and, if so, initiate a diagnose result communication.

Abstract: A vehicle, vehicle system and method for increasing at least one of safety and comfort during autonomous driving is provided. The vehicle system includes an autonomous drive arrangement with multiple sensors, and a vehicle control arrangement. The vehicle system is configured to determine an estimated probability that at least one sensor will become unavailable, or an estimated time/distance ahead until at least one sensor is determined to become unavailable. The vehicle system is further configured to activate at least one countermeasure based on at least one of the estimated probability, the estimated time and the estimated distance.

Abstract: A vehicle, vehicle system and method for increasing at least one of safety and comfort during autonomous driving is provided. The vehicle system includes an autonomous drive arrangement with multiple sensors, a vehicle control arrangement and a positioning system. The vehicle system is configured to determine an estimated probability that at least one sensor will become unavailable, or an estimated time/distance ahead until at least one sensor is determined to become unavailable. The vehicle system is further configured to activate at least one countermeasure based on at least one of the estimated probability, the estimated time and the estimated distance.

Abstract: The present disclosure relates to a vehicle adapted for autonomous driving, such as an autonomous vehicle, comprising an assisting object detecting system for detecting obstructing objects to the vehicle. The object detecting system is adapted to detect an object by comparing a reference value of a selected parameter with a measured value of the selected parameter. The present disclosure also relates to a method and a computer program product for use in the 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: 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: An object awareness determination system includes an external object sensor system to sense objects and generate input data relating to the objects external to a host vehicle, wherein the input data includes an object position (x, y), an object velocity |({dot over (x)}, {dot over (y)})| and an object direction of movement (({dot over (x)}, {dot over (y)})/|({dot over (x)}, {dot over (y)})|) associated with each object in said detecting range. Additionally, the system includes a controller for determining awareness of the user to an object that recently entered the detecting range of the external object sensor system, and a method for determining awareness of the object.