Abstract: A computer implemented method for monitoring an autonomous operating zone, AOZ, including a number of one or more autonomous vehicles, is provided. Each vehicle has sensors arranged to detect an ego-position of the vehicle and relative positions of surrounding objects.

Abstract: The present disclosure relates to a computer implemented method for determining a reliability level of data received by an ego vehicle from a target vehicle being different from the ego vehicle. The present disclosure also relates to a corresponding control system and to a computer program product.

Abstract: A method performed by a control unit for operating an autonomous vehicle is provided. The control unit is arranged to communicate via at least one antenna. The control unit obtains, based on a signal from the at least one antenna, information relating to at least one geographical zone associated with a transponder as the autonomous vehicle moves in proximity of the transponder. Also, the control unit determines an autonomous operating mode of the autonomous vehicle based on the obtained information relating to the at least one geographical zone associated with the transponder. The control unit further operates the autonomous vehicle in accordance with the determined autonomous operating mode.

Abstract: The invention relates to a method for a string comprising a plurality of vehicles, including a lead vehicle and at least one follower vehicle, comprising the follower vehicle following, by means of vehicle-to-vehicle communication, the lead vehicle in a follower trajectory. The method comprises generating surroundings data, regarding the surroundings of at least a part of the string, generating, using the surroundings data, a backup trajectory, which is different from the follower trajectory, wherein the generated backup trajectory, or the surroundings data, is received by at least one of the at least one follower vehicle, wherein the receiving follower vehicle follows the generated backup trajectory, upon a determination of a predetermined condition for following the generated backup trajectory.

Abstract: A method for controlling a maximum allowed speed of an autonomous vehicle includes utilizing a first sensor performance level during driving where the vehicle is allowed to drive with a first maximum allowed speed, while utilizing the first sensor performance level, simultaneously monitoring a rate of false positive object detections for the second sensor performance level which is associated with a second maximum allowed speed which is higher than the first maximum allowed speed and which is a less restrictive sensor performance level, wherein a less restrictive sensor performance level is a sensor performance level with a higher probability of false positive object detections, when the rate of false positive object detections for the second sensor performance level is below a first false positive error threshold, utilizing a less restrictive sensor performance level which is associated with a higher maximum allowed speed, thereby increasing the maximum allowed speed from the first maximum allowed speed to a

Abstract: A method of controlling a backup motion control system for an autonomous vehicle is provided. The autonomous vehicle includes a primary steering system for controlling steering operations of a pair of steerable wheels. Each of the steerable wheels comprises a wheel brake, the wheel brakes being connected to an anti-lock braking system for preventing the wheel brakes from being locked when the anti-lock braking system is arranged in an enabled state.

Abstract: A method for assessing reliability of a brake assembly of a vehicle. The brake assembly comprises brake system, nominal automation system and safety system. The brake system is adapted to receive a brake request individually from each one of the nominal automation system and the safety system and in response, initiate a braking operation. The method comprises determining an actual braking operation density, the actual braking operation density determined on the basis of at least a subset of occurrences per unit time when a braking operation is initiated by the brake system; in response to detecting that the actual braking operation density is lower than a braking operation reference density, issuing a brake request from the safety system; detecting a response of the brake system to the signal issued from the safety system, and on the basis of at least the detected response, assessing the reliability of the brake assembly.

Abstract: A minimum risk maneuver brake system for a heavy-duty vehicle is described. The brake system comprising a first axle comprising a left wheel braking device and a right wheel braking device, where the braking devices are configured to apply a pre-determined difference in brake torque over the axle in response to a brake signal.

Abstract: A computer system comprising a processor device configured to select a candidate path for a first vehicle to travel is provided. The processor device is further configured to obtain, from at least one temperature sensor, heat sensor data indicative of heat distributed on a road surface of a road located ahead of the first vehicle in a driving direction of the first vehicle. The processor device is further configured to, based on the heat distributed on the road surface, identify at least one first path travelled by at least one second vehicle. The processor device is further configured to select a candidate path for the first vehicle to travel. The candidate path is selected out of the at least one first path.

Abstract: A method for determining an error with anchor point detection for an at least partly autonomous vehicle is provided. The method comprises detecting a first anchor point. The method comprises obtaining a distance between the first anchor point and a second anchor point. The method comprises, based on the distance and a of the vehicle, estimating an expected time for the vehicle to detect the second anchor point. The method comprises establishing a time difference by comparing the expected time with a second time after the expected time or by detecting the second anchor point at a third time, and establishing the time difference by comparing the expected time with the third time. The method comprises, based on the established time difference, determining whether there is an error in detecting the first anchor point and/or the second anchor point.

Abstract: A method of verifying a position of a vehicle using a vehicle-mounted device, the method including generating first position data for the vehicle-mounted device responsive to receiving data from a transponder-based localization system, generating second position data for the vehicle-mounted device responsive to receiving data from another localization system; and reporting verified vehicle position data for the vehicle, based on a comparison of the data from the other localization system with the data from the transponder-based localization system for the vehicle-mounted device.

Abstract: A method performed by a central unit for evaluating a performance of an obstacle detection system comprised in a first object within a set of two or more objects at a confined area. The first object is a vehicle. The central unit obtains pose data from each object in the set and obstacle detection data from at least the first object. The central unit determines a relative pose of the objects using the pose data from each object. The central unit the obstacle detection data from each object in the set to the determined relative pose of the objects. Based on the comparison, the central unit evaluates the performance of the obstacle detection system of the first object.

Abstract: A computer-implemented method for assisting one or more autonomous vehicles to drive in a road junction. The road junction comprises a plurality of traffic zones, including a central zone arranged for use by the one or more autonomous vehicles and one or more secondary vehicles and at least one edge zone for use by the one or more secondary vehicles for entering the central zone. The method comprises obtaining sensor data from a set of sensors arranged in the road junction for monitoring the plurality of traffic zones. The sensor data is indicative of objects present in the plurality of traffic zones. Based on the obtained sensor data, it is determined whether there are any objects present in the plurality of traffic zones. In response to determining that at least one object is present in the at least one edge zone indicating to the one or more autonomous vehicles that the road junction is occupied.

Abstract: The present disclosure relates to a computer implemented method for determining a reliability level of data received by an ego vehicle from a target vehicle being different from the ego vehicle. The present disclosure also relates to a corresponding control system and to a computer program product.

Abstract: A method for providing a positive decision signal for a vehicle which is about to perform a traffic scenario action. The method includes receiving information about at least one surrounding road user, which information is indicative of distance to the surrounding road user with respect to the vehicle and at least one of speed and acceleration of the surrounding road user; calculating a value based on the received information; providing the positive decision signal to perform the traffic scenario action when the calculated value is fulfilling a predetermined condition. The value is calculated based on an assumption that the surrounding road user will react on the traffic scenario action by changing its acceleration.

Abstract: The invention relates to a method for a follower vehicle (2) following a lead vehicle, comprising—determining a position (PL) and a heading (HL) of the lead vehicle (1), —determining a position (PF) and a heading (HF) of the follower vehicle (2), —subsequently establishing a path for the follower vehicle (2) by fitting a curve (C1) to said positions (PL, PF) and said headings (HL, HF), —and controlling the follower vehicle (2) so as to move along the established path.

Abstract: A method for a follower vehicle following a lead vehicle, comprising establishing, in a first control mode of the follower vehicle, a path for the follower vehicle to follow the lead vehicle, characterized by generating environmental data which is related to the environment of the lead vehicle, determining, based on the generated environmental data, an expected behaviour of an operational parameter of the lead vehicle, determining an actual behaviour of the lead vehicle operational parameter, comparing the determined expected behaviour of the lead vehicle operational parameter and the determined actual behaviour of the lead vehicle operational parameter, determining based on said comparison whether to continue in first control mode of the follower vehicle, or in a second control mode of the follower vehicle, differing from the first control mode.

Abstract: The present disclosure relates to a computer implemented method for operating an autonomous vehicle based on sensor data representative of an area in a driving direction of and in the vicinity of the vehicle. The vehicle is equipped with a control unit adapted to determine if a plurality of detailed actions to be performed by the vehicle successfully may be used for fulfilling a desired general action plan for the vehicle. The present disclosure also relates to a corresponding control system and to a computer program product.

Abstract: The invention relates to a method for diagnosing error of at least one of an ego vehicle (10) and a surrounding vehicle (12), which method comprises the steps of: the ego vehicle (10) receiving (S1) sensor data about the surrounding vehicle (12) from an on-board sensor (14) of the ego vehicle (10) and vehicle to vehicle data from the surrounding vehicle (12); the ego vehicle (10) comparing (S2) the received sensor data and the received vehicle to vehicle data; and the ego vehicle (10) detecting (S3) a difference between the received sensor data and the received vehicle to vehicle data, whereby the ego vehicle (10): stops (S4) receiving vehicle to vehicle data from the surrounding vehicle (12); registers (S5) a potential error of the ego vehicle (10); and reports (S6) a potential error of the surrounding vehicle (12) to at least one of the surrounding vehicle (12) and a remote server (18). The invention also concerns a method for diagnosing error of a surrounding vehicle (12).

Abstract: The invention relates to a method for a string comprising a plurality of vehicles platooning by means of vehicle-to-vehicle (V2V) communication, comprising collecting (S1) from a plurality of sources (111, 1021, 1022, 1023) values (OP1-OP3) of operational parameters related to the operation of a first (1) of the vehicles, characterized by determining (S2) based on the operational parameter values (OP1-OP3) a plurality of values (AP1-AP3) of an acceleration parameter indicative of an acceleration of the first vehicle, and selecting (S3) from the acceleration parameter values (AP1-AP3) an extreme value (AP2) indicative of the lowest acceleration of the first vehicle (1).