Abstract: A method and system for predicting a near future path for a vehicle. For predicting the near future path sensor data and vehicle driving data is collected. Road data is collected indicative of a roadway on the presently occupied road for the vehicle. The sensor data and the vehicle driving data is pre-processed to provide object data comprising a time series of previous positions, headings, and velocities of each of the objects relative the vehicle. The object data, the vehicle driving data, and the road data is processed in a deep neural network to predict the near future path for the vehicle. The invention also relates to a vehicle comprising the system.

Abstract: A method for predicting a trajectory of at least one secondary road user for avoiding a collision course with the secondary road user for a host vehicle. The method includes determining the present location for the host vehicle, retrieving a plurality of modelled clusters of trajectories for a present traffic situation, and detecting the position and speed of the at least one secondary road user. The method also includes predicting at least one feasible trajectory for the at least one secondary road user based on the position and the speed of the at least one secondary road user to the plurality of modelled clusters of trajectories and selecting at least one feasible trajectory of the feasible trajectories for each secondary road user based on a selection criterion. At least one action is performed based on the selected at least one feasible trajectory.

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: A method performed by a vision control system for supporting in low light conditions in surroundings of a moving vehicle, object detection by at least a first on-board rearward- and/or sideward-facing image capturing device. The vision control system captures a surrounding located rearward and/or sideward of the moving vehicle with support from the at least first image capturing device. The vision control system further determines light conditions in the surrounding. Moreover, the vision control system provides with support from at least a first light source, when the light conditions fulfill insufficient light criteria, a light output illuminating a ground region of the surrounding to facilitate object detection by the at least first image capturing device. The disclosure also relates to a vision control system, a vehicle comprising such a vision control system, and a respective corresponding computer readable storage medium.

Abstract: A system for a lane keeping feature of a vehicle is provided. The lane keeping feature has a predefined safety requirement criterion for keeping the vehicle within bounds while the lane keeping feature is active. The system comprises a road estimation module and a trajectory planning module. The road estimation module is configured to receive sensor data comprising information about a surrounding environment of the vehicle, and to determine a drivable area based on the sensor data. The drivable area comprises a left boundary and a right boundary extending along a direction of travel of the vehicle, wherein each boundary comprises a plurality of points distributed along each boundary, each point being associated with a confidence level. The trajectory planning module is configured to receive the determined drivable area, and to determine a nominal trajectory for the vehicle based on the received drivable area.

Abstract: The present disclosure relates to a method performed by a vision control system for supporting in low light conditions in surroundings of a moving vehicle, object detection by at least a first on-board rearward- and/or sideward-facing image capturing device. The vision control system captures a surrounding located rearward and/or sideward of the moving vehicle with support from the at least first image capturing device. The vision control system further determines light conditions in the surrounding. Moreover, the vision control system provides with support from at least a first light source, when the light conditions fulfill insufficient light criteria, a light output illuminating a ground region of the surrounding to facilitate object detection by the at least first image capturing device. The disclosure also relates to a vision control system, a vehicle comprising such a vision control system, and a respective corresponding computer readable storage medium.

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, a non-transitory computer-readable storage medium, a system and a vehicle for determining localization of a vehicle on a road are disclosed. Map data with respect to at least one road, one or more lanes of the at least one road, and one or more exits from the at least one road are received. Furthermore, localization data indicating that the vehicle is localized on the at least one road, and positioning data indicating a position of the vehicle on the at least one road are obtained. From the map data and the positioning data, an upcoming exit from the at least one road is identified. Based on the localization data, the map data and the identified exit, it is determined that for the vehicle to exit the at least one road at the identified exit, leaving of a lane by the vehicle is required.

Abstract: A system for a lane keeping feature of a vehicle is provided. The lane keeping feature has a predefined safety requirement criterion for keeping the vehicle within bounds while the lane keeping feature is active. The system comprises a road estimation module and a trajectory planning module. The road estimation module is configured to receive sensor data comprising information about a surrounding environment of the vehicle, and to determine a drivable area based on the sensor data. The drivable area comprises a left boundary and a right boundary extending along a direction of travel of the vehicle, wherein each boundary comprises a plurality of points distributed along each boundary, each point being associated with a confidence level. The trajectory planning module is configured to receive the determined drivable area, and to determine a nominal trajectory for the vehicle based on the received drivable area.

Abstract: A method for providing an alert signal to a control unit of a vehicle for controlling driver intervention. The method comprises determining a set of present driving behavior data indicative of a present driving behavior in a present driving situation and retrieving a driving model indicative of expected driving behavior for the present driving situation. Further, a plurality of expected near future paths for the vehicle are predicted and an actual path is additionally determined. The set of present driving behavior data is mapped with the driving model. When a predetermined degree of deviation in the set of present driving behavior data compared to the driving model is found and the actual path deviates from the predicted expected paths, the alert signal is provided.

Abstract: A handover notification arrangement is configured to provide a handover notification in a driver environment of a vehicle having autonomous driving capabilities. The handover notification arrangement includes a road information arrangement configured to acquire road information representative of an upcoming road section at which the autonomous driving is likely to become at least partially disabled. The handover notification arrangement further includes a processing unit configured to calculate an estimated time available for autonomous driving and configured to calculate an uncertainty estimate of the estimated time available for autonomous driving. The handover notification arrangement is configured to cause the output unit to provide the handover notification such that the handover notification is provided earlier in cases of high uncertainty estimates than in cases of low uncertainty estimates. The present disclosure also describes a vehicle and a method of providing a handover notification.

Abstract: A method for predicting a trajectory of at least one secondary road user for avoiding a collision course with the secondary road user for a host vehicle. Determining the present location for the host vehicle. Retrieving a plurality of modelled clusters of trajectories for a present traffic situation. Detecting the position and speed of the at least one secondary road user. Predicting at least one feasible trajectory for the at least one secondary road user based on the position and the speed of the at least one secondary road user to the plurality of modelled clusters of trajectories. Selecting at least one feasible trajectory of the feasible trajectories for each secondary road user based on a selection criterion. Performing at least one action based on the selected at least one feasible trajectory.

Abstract: Described herein is a method for constructing and updating a behavioral layer of a multi layered road network high definition digital map. By sensors of a plurality of road vehicles travelling through the road network is detected data relating to at least the positions and velocities of static and moving objects. Data concerning the detected objects is sent to the cloud for data aggregation. The aggregated data is analyzed to determine or predict behavioral patterns of the detected objects for different segments of the map. The determined or predicted behavioral patterns of the detected objects are added to the behavioral layer of the map. Also described is a road network high definition map comprising such a behavioral layer as well as a Geographic Information System that is arranged to construct and update such a behavioral layer of a multi layered road network high definition digital map.

Abstract: A method and system for predicting a near future path for a vehicle. For predicting the near future path sensor data and vehicle driving data is collected. Road data is collected indicative of a roadway on the presently occupied road for the vehicle. The sensor data and the vehicle driving data is pre-processed to provide object data comprising a time series of previous positions, headings, and velocities of each of the objects relative the vehicle. The object data, the vehicle driving data, and the road data is processed in a deep neural network to predict the near future path for the vehicle. The invention also relates to a vehicle comprising the system.

Abstract: A method for providing an alert signal to a control unit of a vehicle for controlling driver intervention. The method comprises determining a set of present driving behavior data indicative of a present driving behavior in a present driving situation and retrieving a driving model indicative of expected driving behavior for the present driving situation. Further, a plurality of expected near future paths for the vehicle are predicted and an actual path is additionally determined. The set of present driving behavior data is mapped with the driving model. When a predetermined degree of deviation in the set of present driving behavior data compared to the driving model is found and the actual path deviates from the predicted expected paths, the alert signal is provided.

Abstract: A method performed by a database managing system for maintaining a database comprising reported traffic-affecting events is provided. The system derives a position of a first vehicle supporting detection of vehicle surroundings and determines by comparing the vehicle position to positions of reported traffic-affecting events comprised in the database, that the first vehicle is approaching at least a first traffic-affecting event. The system prompts the first vehicle to attempt to detect the first traffic-affecting event, which prompting comprises providing to the first vehicle an expected position of the first traffic-affecting event. The system receives a response from the first vehicle, which response indicates whether or not the expected position was at least partly unobstructedly observable by the first vehicle.

Abstract: A suitability determining system for establishing whether a road section is suitable for at least semi-autonomous vehicle driving is described. The system identifies a road section including at least one lane and delimited by at least one lateral road boundary, and derives from at least a first estimate providing vehicle a respective utilization direction estimate along with a corresponding respective detection confidence value for each of respective lanes detected by the estimate providing vehicle along the road section.

Abstract: A vehicle control arrangement is configured to control steering and velocity of a road vehicle including a velocity control arrangement, remote sensors configured to acquire vehicle surrounding information, a steering control unit configured to control steering of the vehicle based on the vehicle surrounding information, an upcoming road geometry detecting unit configured to detect presence of an upcoming curve section, a hands-on-wheel detecting unit configured to detect if presence exists of at least one hand on a steering wheel of the vehicle. The velocity control arrangement is configured to perform a reduction of velocity of the vehicle in case presence of an upcoming curve section is detected and no presence is detected of at least one hand on the steering wheel.

Abstract: The present disclosure relates to a method for controlling a time of activation of a restraint system in a vehicle, the vehicle comprising a seat belt associated to a seat, the restraint system being a reversible restraint system, the method comprising the steps of a) determining a current length (L) of pulled out seat belt, b) detecting a collision or an imminent collision involving the vehicle, c) predicting a time (T0) when the collision is predicted to affect a user of the seat belt, d) activating the reversible restraint system a selectable time period (?1) before the time (T0) when the collision is predicted to affect the user of the seat belt, wherein a length of the selectable time period (?1) is a function of the determined current length (L) of pulled out seat belt. The disclosure further relates to a safety arrangement of a vehicle.

Abstract: A method for steering assistance in an autonomous or semi-autonomous vehicle comprises identifying an upcoming curve, detecting an inner lane boundary and an outer lane boundary of the upcoming curve, determining a safety distance between the vehicle and the outer lane boundary, and controlling a position of the vehicle in the curve with respect to the inner and outer lane boundary such that the vehicle is at a distance from the outer lane boundary which is equal to or larger than the safety distance. A steering assistance system is also described capable of performing the method for steering assistance.