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 method for determining a direction of travel for a following vehicle ensures that the following vehicle follows a path indicative of that of a target vehicle. The target vehicle extends in longitudinal (X) and lateral (Y) directions, the longitudinal direction (X) corresponding to an intended direction of travel of the following vehicle. The method may include determining a measured lateral offset (?Ymeasure) between the following and target vehicles. The method may also include measuring a lateral position change parameter corresponding to an actual performed, ongoing and/or impending lateral position change of the following vehicle, an actual performed, ongoing and/or impending lateral position change of the target vehicle, or a combination thereof.

Abstract: A safety arrangement and method are described for controlling automatic travel of a fully automated vehicle. One or more forward-looking detection systems are provided for detecting objects in a future path of the vehicle. A control unit is configured to determine a detection confidence for the detected objects. The control unit is further operable to, upon low confidence for existence of a detected object, control a brake system of the vehicle to apply a predetermined limited amount of braking until high confidence is obtained for existence or non-existence of the previously detected object. Thereafter the control unit is further operable to apply full braking if high confidence is obtained for existence of the previously detected object and to discontinue braking if high confidence is obtained for non-existence of the previously detected object.

Abstract: An apparatus and method are described for lateral control of a host vehicle (F) during travel in a vehicle platoon. The apparatus and method include acquiring a control signal u and a lateral error ? relative to a target vehicle (L) of a preceding vehicle (T) travelling in the vehicle platoon, filtering the received lateral error ?, filtering the received control signal u, and executing via a processor a control algorithm for actuating lateral control of the host vehicle (F).

Abstract: A method is provided for assisting a driver of a vehicle. The method may include performing a lateral control of the vehicle in an autonomous mode, determining information about a surroundings of the vehicle, checking whether a longitudinal control of the vehicle performed by the driver is appropriate considering the determined information about the surroundings, and, if appropriate, continuing an autonomous mode of the lateral control of the vehicle. A driver assist system is also provided for performing the method.

Abstract: An apparatus and method are described for lateral control of a host vehicle (F) during travel in a vehicle platoon. The apparatus and method include acquiring a control signal u and a lateral error ? relative to a target vehicle (L) of a preceding vehicle (T) travelling in the vehicle platoon, filtering the received lateral error ?, filtering the received control signal u, and executing a control algorithm for actuating lateral control of the host vehicle (F).

Abstract: A method for determining a direction of travel for a following vehicle ensures that the following vehicle follows a path indicative of that of a target vehicle. The target vehicle extends in longitudinal (X) and lateral (Y) directions, the longitudinal direction (X) corresponding to an intended direction of travel of the following vehicle. The method may include determining a measured lateral offset (?Ymeasure) between the following and target vehicles. The method may also include measuring a lateral position change parameter corresponding to an actual performed, ongoing and/or impending lateral position change of the following vehicle, an actual performed, ongoing and/or impending lateral position change of the target vehicle, or a combination thereof.

Abstract: A method for determining the time to collision between a host vehicle and an oncoming target vehicle, and for determining the necessary host vehicle deceleration for bringing the host vehicle to a standstill at the moment of collision. The method furthermore comprises the steps: determining the position (pH) of the host vehicle as a function of time; determining the position (pT) of the target vehicle as a function of time; for the moment of collision, as a first condition, setting the position (pH) of the host vehicle equal to the position (pT) of the target vehicle, and, as a second condition, setting the velocity (vH) of the host vehicle to zero; using the positions and the conditions above to solve for the time to collision and the necessary host vehicle deceleration; and choosing the solution for time to collision that is positive and has the largest value.

Abstract: A method for voltage stabilization of an electrical power network system including a producing power network system side, a consuming power network side including a power load, a power transmission line with an impedance ZLN, a transformer and an on-line tap changer added to the transformer. The impedance of the line is measured in case of dynamic instabilities. A transformer ratio n is controlled by changing a voltage reference Vref of the on-line tap changer. The voltage reference is changed according to a feed forward compensation from the impedance of the line.

Abstract: A method for determining the time to collision between a host vehicle and an oncoming target vehicle, and for determining the necessary host vehicle deceleration for bringing the host vehicle to a standstill at the moment of collision. The method furthermore comprises the steps: determining the position (pH) of the host vehicle as a function of time; determining the position (pT) of the target vehicle as a function of time; for the moment of collision, as a first condition, setting the position (pH) of the host vehicle equal to the position (pT) of the target vehicle, and, as a second condition, setting the velocity (vH) of the host vehicle to zero; using the positions and the conditions above to solve for the time to collision and the necessary host vehicle deceleration; and choosing the solution for time to collision that is positive and has the largest value.

Abstract: The present invention relates to voltage stabilization of electrical power networks, and in particular to a method for voltage stabilization of an electrical power network system comprising a producing power network system side and a consuming power network side to maintain voltage, wherein the power transfer YLD, wherein YLD is power load impedance, is dynamically maintained below the loci for maximum power transfer, n2YLDZLN=1, wherein YLD is power load impedance, ZLN is transmission line impedance and n is transformer ratio, preferably YLD is maintained at a stable equilibrium.

Abstract: A method for controlling the idle speed of an internal combustion engine is presented. The method comprises controlling an ignition timing at least partly based on the engine speed and controlling a position of a throttle valve at least partly based on the ignition timing. Preferably, the ignition timing is controlled so that it is restricted by at least one ignition timing limit, and the position of the throttle valve is controlled at least partly based on the ignition timing as not restricted by the at least one ignition timing limit.