Abstract: A driving assistance apparatus is configured to control a contact avoidance operation of avoiding contact between a first vehicle to which the driving assistance apparatus is to be applied and a second vehicle. The driving assistance apparatus includes an electronic control unit. The electronic control unit is configured to: make a prediction of a position of the second vehicle at a determination time as a determination predicted position, based on a position of the second vehicle at a past time before the determination time; calculate a deviation amount of the prediction, based on the determination predicted position and a determination detected position that is a position of the second vehicle detected at the determination time; and suppress the contact avoidance operation when the deviation amount is greater than a setting value.

Abstract: A control device includes a processor configured to: acquiree irradiation related information related to beam irradiation of a host vehicle and a target vehicle; predict, based on the irradiation related information, an interference scene in which the beam interference occurs between the host vehicle and the target vehicle; perform an interference risk control to the host vehicle to mitigate a risk of beam interference in the predicted interference scene; perform a path change control to the host vehicle to change a future path of the host vehicle to a mitigation path that mitigates the beam interference; perform a beam change control to change a scheduled pattern of beam irradiation in which irradiation timing is set to be intermittent and an irradiation azimuth is set in scan manner to a mitigation pattern that mitigates the beam interference in response to the path change control being determined to be prohibited.

Abstract: A method may include receiving training data comprising a time series of gaps between an ego vehicle and one or more lead vehicles at a plurality of time steps, embedding the training data into a fixed-length sequence, inputting the fixed-length sequence into a Transformer-RNN model comprising a Transformer component and an RNN component, wherein the transformer component applies attention to each data point of the fixed-length sequence based on a fixed number of previous inputs, and training the Transformer-RNN model, using the training data, to output a predicted gap at a future time step based on an input sequence of gaps.

Abstract: A computer implemented method for spacing vehicles. A computer system simulates the vehicles moving on a road using a simulation system. The computer system determines an energy of the vehicles moving on the road using the simulation system. The computer system determines a desired spacing for the vehicles needed to reduce an undesired vehicle contact in response to an unexpected change in driving parameters for a number of the vehicles based on the energy of the vehicles moving on the road using the simulation system. The computer system performs a set of actions for the vehicles using the desired spacing determined for the vehicles.

Abstract: A control apparatus is configured to control driving of a caravan of vehicles on a same lane by communication. The control apparatus includes a memory storing instructions, and a processor configured to execute the instructions to detect that a target vehicle driving in a lane next to the caravan is putting blinker, and change at least one distance between the vehicles in the caravan in a case where it is detected that the target vehicle is putting blinker.

Abstract: A vehicle system, apparatus, and/or method is provided. The vehicle system includes a powertrain including a prime mover and a transmission, and an electronic control system in operative communication with the powertrain including an adaptive cruise control (ACC) controller. The electronic control system is configured to determine a speed profile for a vehicle-in-front of the vehicle system while operating the vehicle system along a route. In response to the speed profile for the vehicle-in-front, the electronic control system is further configured to modify one or more output parameters of the powertrain to control one or more of a vehicle speed, a vehicle acceleration, and a vehicle deceleration of the vehicle system to inhibit control of the one or more output parameters by the ACC controller.

Abstract: A trailer tow assist system including a camera that captures a rearward image of the trailer and its surroundings, a human machine interface that displays the rearward image, an input device that receives user input, and an electronic processor. The electronic processor receives the rearward image, identifies a target-space within the surroundings, determines a vehicle orientation relative to the target-space, determines a trailer angle relative to the vehicle, determines a trailer trajectory within the surroundings, and displays the trailer trajectory and rearward image on the human machine interface. The electronic processor also controls, in response to the user input, the vehicle to follow the trailer trajectory along a centerline of the trailer trajectory.

Abstract: A computer-implemented method for stopping an autonomous vehicle at a stopping location defined by a protrusion or a recess formed with respect to a ground surface on which the vehicle is travelling is provided. The method includes detecting that at least a portion of the vehicle is located above the protrusion or recess, in response to said detection, initiating a stop of the vehicle. Detecting that at least a portion of the vehicle is located above the protrusion or recess may include detecting an increase in engine torque or power, and/or detecting a difference in vehicle-to-ground distance.

Abstract: A vehicle and a method of controlling the same includes a driving state detector configured to detect a driving state of an electric vehicle, a storage configured for storing a map table for engine brake torque values according to engine types and gear ratios of an internal combustion engine vehicle, a driver configured to drive the electric vehicle, and a regenerative braking controller electrically connected to the driving state detector, the storage and the driver and configured to control, based on the driving state of the electric vehicle detected by the driving state detector and the map table, the driver so that the electric vehicle performs regenerative braking based on each torque value.

Abstract: A controller is provided for a vehicle having front and rear axles, each axle having two wheels, and first and second propulsion units. The controller controls the first and second propulsion units to generate a combined torque with reference to a total requested torque. The controller is configured to: receive a torque request signal; receive traction signals indicating available traction at at least one wheel; determine a traction torque range defined by a maximum and minimum torque for at least one of the at least first or second propulsion units in dependence on one or more of the traction signals; determine a proposed distribution of torque between each of the at least first and second propulsion units with reference to the total requested torque; and determine a proposed torque to be generated by each of the at least first and second propulsion units in dependence on the proposed distribution of torque.

Abstract: A traction control method for a vehicle provided with a torque vectoring apparatus including a torque vectoring motor includes determining, by first and second controllers, whether a current situation is a split-? situation occurring when the vehicle is driven on a split road surface, based on vehicle driving information collected in the vehicle, determining and creating, by the second controller, a target speed for control of a slip wheel speed when both controllers determine the split-? situation, and transmitting the target speed from the second controller to the first controller, generating, by the first controller, a torque command for the torque vectoring motor for slip wheel speed control to follow the target speed received from the second controller, and controlling, by the first controller, operation of the torque vectoring motor in accordance with the torque command.

Abstract: Provided are methods for offline perception motion inference, which can include obtaining map data indicative of an environment and obtaining data associated with at least one agent. The method can include determining a trajectory for the agent and matching the trajectory of the agent with a lane connector. The method can also include determining a traffic light parameter. Systems and computer program products are also provided.

Abstract: An embodiment apparatus for controlling a vehicle includes a camera and a controller configured to generate a detection line having a specified width based on a traveling direction of the vehicle within a road image obtained by the camera, to generate a corner point at a point where the detection line meets a line identified in the road image, and to control a speed of the vehicle by estimating a curvature of a road based on the corner point or to control steering based on an angle between the detection line and the line.

Abstract: The driver assistance system comprises a detector, a navigator, a stimulator, and a voice interactor. The detector detects wakefulness reduction of a driver or absent-minded driving by the driver. The navigator navigates a vehicle based on map information. The stimulator continuously or intermittently applies stimulation to the driver. The voice interactor interacts with the driver by voice. The navigator searches for a resting facility on a route from the map information in response to a detection of the wakefulness reduction or the absent-minded driving. The voice interactor executes a first interaction of proposing navigation to the resting facility by the navigator in response to the detection of the wakefulness reduction or the absent-minded driving, and executes a second interaction of proposing application of stimulation by the stimulator after an execution of the first interaction and during a period until the vehicle arrives at the resting facility.

Abstract: A device for predicting a future actual speed of a motor vehicle includes a low-pass filter, the low-pass filter being configured to filter a signal which is characteristic of a target speed of the motor vehicle and to provide this as a target speed of the motor vehicle; an acceleration governor, the acceleration governor being configured to predetermine a target acceleration for the motor vehicle in a time interval depending at least on the target speed of the motor vehicle; and a model, the model being configured to predict the future actual speed depending at least on the target acceleration.

Abstract: Systems and methods for detecting a failure of a wheel speed sensor. One example system includes an encoder and an electronic processor. The electronic processor is configured to receive, from the wheel speed sensor, a wheel speed, receive, from the encoder, a signal, and determine, based on the signal from the encoder, a positional change of an electric motor shaft of the electric motor. The electronic processor is configured to determine, based on the wheel speed and the positional change of the electric motor, whether the wheel speed sensor is faulty.

Abstract: An embodiment power control device includes a power converter configured to convert a first voltage of a first battery to a second voltage lower than the first voltage of the first battery and to supply a power via the second voltage, a power distributor configured to distribute and supply the power supplied from the power converter to a plurality of low-power loads including an autonomous driving control device, and an integrated central control unit (ICU) configured to be connected to the power converter, the power distributor, and the autonomous driving control device through a plurality of communication networks, to determine a first failure in a first communication module provided in the power converter or a second failure in communication lines of the plurality of communication networks, and to transmit failure information about the first failure or the second failure to the autonomous driving control device.

Abstract: A method for changing a route when an error occurs in an autonomous driving AI includes collecting error information of the AI when an error of the AI has occurred, extracting, from a storage, past error information about a same kind of AI as that of the AI based on the error information of the AI, generating an error analysis result based on the past error information, generating an error analysis result message based on the error analysis result, and determining whether the driving of the autonomous driving vehicle needs to be stopped based on the error analysis result message.

Abstract: A method may include learning reward functions for a plurality of first vehicles based on first vehicle data associated with the plurality of first vehicles using inverse reinforcement learning, associating each vehicle of the plurality of first vehicles with one cluster among a plurality of clusters based on the reward functions, determining a centroid reward function for each of the clusters based on the reward functions associated with each cluster, performing a comparison between second vehicle data associated with a second vehicle and the first vehicle data, determining a vehicle among the plurality of first vehicles having associated first vehicle data that is most similar to the second vehicle data based on the comparison, associating the second vehicle with the cluster associated with the determined vehicle, and controlling operation of the second vehicle based on the centroid reward function of the cluster associated with the second vehicle.

Abstract: Aspects of the disclosed technology provide solutions for generating synthetic driving scenarios using text-based inputs that describe an intended operating goal. A process of the disclosed technology can include steps for generating a first synthetic scene for testing an autonomous vehicle (AV), providing the first synthetic scene to a first machine-learning model to generate a first text description of the synthetic scene, and providing the first text description to a second machine-learning model to determine if the first text description aligns with the predetermined operating goal for the AV. In some aspects, the process can further include generating a second text description for the synthetic scene, if the first text description does not align with the predetermined operating goal for the AV and providing the second text description to a third machine-learning model to generate a second synthetic scene. Systems and machine-readable media are also provided.

Abstract: A control unit and a method are provided for controlling a riding function of a two-wheeled vehicle. The riding function is configured to guide the two-wheeled vehicle longitudinally and/or transversely in an automated manner. The control unit is configured to detect that the riding function is activated in order to bring about automated longitudinal and/or transverse guidance by the riding function, to determine that dynamic adaptation of the riding function is requested by the driver, and in response thereto, to initiate that, with the riding function being active, a control parameter influencing the dynamics of the riding function is adapted on the basis of the requested dynamic adaptation.

Abstract: A method of a transportation vehicle for context-dependent processing of a potential error of a vehicle component. The method includes determining a current context of the transportation vehicle and of at least one vehicle component of the transportation vehicle that is heterogeneous in the current context. In response to at least one heterogeneous vehicle component being determined, a heterogeneous verification of the potential error is performed taking into account the at least one heterogeneous vehicle component. In response to no heterogeneous vehicle component being determined, a context-dependent relevance of the vehicle component is determined. Based on the determined context-dependent relevance, then either the potential error of the vehicle component is handled or an emergency operating mode of the transportation vehicle is initiated. Also disclosed is a transportation vehicle having a control unit to perform the method.

Abstract: Methods, systems, and apparatus for a monitoring system to monitor and detect a vehicle load. The monitoring system includes a first camera configured to capture first image data including a load in the vehicle, a memory configured to store image data, and an electronic control unit coupled to the first camera and the memory. The electronic control unit is configured to obtain, from the first camera, the first image data including the load, determine a movement of the load based on the first image data, and provide a notification when the movement of the load exceeds a first threshold.

Abstract: The disclosure generally relates to a system comprising a memory and a processor configured to access the memory and execute the machine-executable instructions stored on the memory to determine that a target vehicle is engaging in an abnormal driving, determine that the abnormal driving exceeds a notification threshold parameter of an abnormal driving notification system, generate a notification, and monitor the ego vehicle and/or driver to alter notification threshold values based on the reactions of the ego vehicle and/or driver inputs.

Abstract: Provided are methods for optimizing alerts for vehicles experiencing stuck conditions, which can include receiving, using at least one processor, data associated with a distance between a location of a vehicle and a destination; determining, using the at least one processor, a derivative of the distance between the location of the vehicle and the destination with respect to a window of time; determining, using the at least one processor, a threshold based on the data associated with the distance between the location of the vehicle and the destination; comparing the derivative to the threshold; and based on the comparison, generating data representing at least one alert indicative of a stuck condition of the vehicle. Systems and computer program products are also provided.

Abstract: A vehicle driving assistance system is disclosed. The system may include a transceiver configured to receive a source location and a destination location for a user trip, a user driving information and road information associated with a plurality of geographical zones between the source location and the destination location. The system may further include a processor configured to calculate a user driving index based on the user driving information. Further, the processor may be configured to calculate a zone index for each geographical zone based on the road information. The processor may be further configured to correlate the user driving index and the zone index, and calculate a driver assistance index for each geographical zone based on the correlation. The processor may perform a control action when the calculated driver assistance index is greater than a predetermined threshold.

Abstract: A blind spot avoidance system for a vehicle includes a sensor configured to detect a third-party vehicle traveling in an adjacent lane. A control unit of the system is configured to determine whether the vehicle is traveling in a blind spot region of the third-party vehicle to output a signal indicating that the vehicle is in the blind spot when the vehicle is in the blind spot region for more than a predetermined amount of time. A method for avoiding traveling in a blind spot of a third-party vehicle includes detecting the third-party vehicle in an adjacent lane via a sensor of a vehicle, determining whether the vehicle is in a blind spot of the third-party vehicle, and, outputting a signal when the vehicle is in the blind spot of the third-party vehicle for more than a predetermined amount of time.

Abstract: A method, device and storage medium for scheduling notification based on driving assistance features. The method comprises determining a status of at least one driving assistance feature of the vehicle and scheduling notification of a user by a message on the electronic device based on the status of the at least one driving assistance feature.

Abstract: A monitoring system has a notifying unit capable of notifying a driver of information in a tactually recognizable manner, and a processor configured to determine whether a seat position of a driver's seat in which a driver is sitting is within a recommended range that represents an extent of the seat position where the driver sitting in the driver's seat can drive a vehicle, and notify the driver of a move request requiring to adjust the seat position within the recommended range through the notifying control unit based on the determination that the seat position is not within the recommended range.

Abstract: A vehicular driver monitoring system includes a camera disposed at an interior rearview mirror assembly within a cabin of a vehicle and viewing a driver operating of the vehicle. Image data captured by the camera is transferred to and is processed at an electronic control unit (ECU). The vehicular driver monitoring system, via processing at the ECU of image data captured by the camera, determines posture of the driver operating the vehicle. The vehicular driver monitoring system, based at least in part on a comparison between the determined posture of the driver and a proper posture stored in memory, determines improper posture of the driver. The proper posture stored in memory is determined based at least in part on a determined head position of the driver relative to the interior rearview mirror assembly of the vehicle.

Abstract: The present disclosure provides a cooperative vehicle infrastructure information processing method and apparatus, and a terminal device. The method includes: receiving a plurality of pieces of event information sent by an information sensor device; and in a case that at least two target events among the plurality of pieces of event information are driving decision-making homogeneous events, merging the at least two target events to generate a composite event, wherein the driving decision-making homogeneous events are events having a preset influence relationship.

Abstract: Provided are systems, methods, and computer program products for ensemble based vehicle motion planning. A model ensemble including a routing model and multiple planning models may be trained and applied to generate a trajectory for navigating a vehicle in a scenario. In some cases, the routing model may select, from multiple candidate trajectories generated by the planning models based on the scenario, the trajectory generated by the best performing planning model. Alternatively, the routing model may successively activate one or more of the planning models to generate one or more candidate trajectories based on the scenario until the routing model identifies a trajectory satisfying one or more criteria.

Abstract: According to an aspect of an embodiment, operations may comprise accessing an HD map of a region comprising information describing an intersection of two or more roads and describing lanes of the two or more roads that intersect the intersection, automatically identifying constraints on the lanes at the intersection, automatically calculating, based on the constraints on the lanes at the intersection, lane connectivity for the intersection, displaying, on a user interface, the automatically calculated lane connectivity for the intersection, receiving, from a user through the user interface, confirmation that the automatically calculated lane connectivity for the intersection is an actual lane connectivity for the intersection, and adding the actual lane connectivity for the intersection to the information describing the intersection in the HD map.

Abstract: A moving body control system executes a localization process that estimates a position of a moving body based on sensor-detected information and feature object map information indicating a position of a feature object. The moving body control system executes driving assist control based on the estimated position of the moving body. A first range includes the estimated position of the moving body and becomes larger as reliability of the localization process becomes lower. A first future range is at least a part of an expected passing range of the first range. When an obstacle is present in the first range or the first future range, the moving body control system makes the moving body decelerate or stop. When no obstacle is present in the first range or the first future range, the moving body control system continues the driving assist control.

Abstract: A method for planning a behavior of a vehicle with respect to one or more occluded area(s) along a navigation path of the vehicle, wherein the method comprises an occluded area identification step, during which the occluded area(s) is/are identified, and a phantom object generation step, during which at least one phantom object is generated for at least one of the occluded areas, the occluded area(s) is/are defined based on information from a predefined occlusion scenario catalog during the occluded area identification step.

Abstract: A remote computer system may receive data associated with an autonomous vehicle traversing an environment along a route in accordance with a planned trajectory and data associated with an event within the environment and cause a display to display a representation of the autonomous vehicle. A request to generate an intermittent stopping action message comprising one or more of a position or orientation, a period of time, or a condition is received by the remote computer system and transmitted to the autonomous vehicle, wherein the autonomous vehicle is configured to move to the one or more of position or orientation for the period of time or until the condition is met, such that the vehicle moves to or is at the one or more of position or orientation prior to the event occurring.

Abstract: A control system according to the present disclosure comprises one or more memories and one or more processors. The one or more memories are configured to store observation data detected by one or more sensors installed in a moving body and an estimated position of the moving body. The one or more processors are configured to execute the following first to third processes. The first process is calculating the estimated position at a current time based on at least the estimated position calculated in a previous process and the observation data up to the current time. The second process is recalculating the estimated position at a past predetermined time. The third process is evaluating accuracy of the estimated position at the current time based on a difference between the estimated position at the past predetermined time stored in the memory and the recalculated estimated position.

Abstract: Please substitute the new Abstract submitted herewith for the original Abstract: A system for increasing a degree of automation of a driver assistance system of a motor vehicle by using at least a second sensor and/or at least a second computing unit of a traffic participant in the surroundings of the motor vehicle is provided.

Abstract: A vehicular control system includes an electronic control unit (ECU) disposed at a vehicle. The system is in wireless communication with a remote server. A health monitoring sensor captures sensor data representative of a health condition of an occupant of the vehicle. The system, based on processing at the ECU of captured sensor data, transmits a first signal to the remote server based on the captured sensor data. Responsive to receiving the first signal, the remote server transmits a second signal to the system including at least one destination suitable to treat the health condition of the occupant. Based on the second signal, the system selects a target destination from the at least one destination and determines a path of travel between the vehicle's current geographic location and the target destination's geographic location. The system at least partially controls operation of the vehicle along the path of travel.

Abstract: A path control systems and methods are disclosed that can aide in keeping an autonomous vehicle on a path. A current estimate of the autonomous vehicle's first position (x, y), heading, and velocity as well as a path of interest (e.g., breadcrumbs, line-arcs, or clothoid segments each containing velocity information) can be used to output a command velocity, command curvature, and/or a vector of waypoints. The command velocity, command curvature, and/or a vector of waypoints can be followed to move the autonomous vehicle from the first position onto the path of interest. An obstacle map may also be used to provide a path to the path of interest that avoids the obstacles on the obstacle map.

Abstract: The present disclosure relates to a defensive driving vehicles interaction system (D2VIS), and to an autonomous driving predictive defensive driving system through an interaction based on forward vehicle driving and situation judgement information and a method thereof. An autonomous driving predictive defensive driving system through an interaction based on forward vehicle driving and situation judgement information according to the present disclosure includes an inter-vehicle distance recognition unit configured to recognize a distance between a surrounding vehicle and an ego vehicle, a situation recognition unit configured to recognize situation information including surrounding information of the surrounding vehicle, and a driving situation response determination unit configured to share data for determining a defensive driving action by using the situation information.

Abstract: Disclosed herein are system, method, and computer program product embodiments for an asymmetrical Autonomous Vehicle Systems (AVS). A backup AVS is implemented on a vehicle to serve as a failover system for one or more of the primary AVS components or processes (e.g., steering, braking, etc.). In this way, during primary AVS failures, the backup AVS can dynamically handle a subset of vehicle operations in various component configuration levels based on a desired mission level.

Abstract: The present disclosure provides a method for starting an unmanned vehicle. The method for starting the unmanned vehicle includes: in response to completion of a task of the unmanned vehicle at a current node, determining occupancy state information of a reference start position on a guide line, wherein the guide line is a preset driving route of the unmanned vehicle from the current node to a next node, the reference start position is a position on the guide line reached by the unmanned vehicle from a current position; in response to a determination that the occupancy state information is the occupancy state, projecting the current position of the unmanned vehicle to the guide line to determine an initial mileage value of the current position on the guide line; determining a reference start mileage value of the reference start position on the guide line; and generating a target start point sequence.

Abstract: Various examples are directed to systems and methods for controlling an autonomous vehicle comprising a tractor and a trailer. For example, a system may determine that a line from a position of a first sensor on the autonomous vehicle to a position of a first actor in an environment of the autonomous vehicle intersects the trailer. The system may determine that the first actor is in a blind spot of the autonomous vehicle, generate a motion plan for the autonomous vehicle, and control the autonomous vehicle in accordance with the motion plan.

Abstract: Provided are methods and systems for lane change and intent determination. A method for operating an autonomous vehicle is provided. The method includes obtaining, first scene data associated with a scene of an autonomous vehicle. The method includes generating a plurality of trajectories for the autonomous vehicle. The method includes selecting a trajectory from the plurality of trajectories. The method includes determining a vehicle action intent of the selected trajectory. The method includes combining the vehicle action intent of the selected trajectory with a set of vehicle action intents to form a plurality of vehicle action intents. The set of vehicle action intents correspond to a set of trajectories generated prior to the selected trajectory from second scene data. The method includes selecting a vehicle action for the autonomous vehicle and causing the autonomous vehicle to initiate performance of the vehicle action based on the selecting the action.

Abstract: Sensor data identifying an emergency vehicle approaching the autonomous vehicle may be received. A predicted trajectory for the emergency vehicle may be received. Whether the autonomous vehicle is impeding the emergency vehicle may be determined based on the predicted trajectory and map information identifying a road on which the autonomous vehicle is currently traveling. Based on a determination that the autonomous vehicle is impeding the emergency vehicle, the autonomous vehicle may be controlled in an autonomous driving mode in order to respond to the emergency vehicle.

Abstract: When there is a request of a driver for transition to manual driving mode while the autonomous vehicle is driving in autonomous driving mode, the autonomous vehicle is set to a safe state by performing control operations of maintaining a vehicle speed previously designated by the driver, maintaining safe distances between vehicles, and changing the driving land and the driving route. The driver is provided with a warning signal notifying that safe transition to the manual driving mode is possible. Accordingly, the driving mode of the autonomous vehicle is transited to the manual mode in a state in which the safety of the autonomous vehicle is obtained.

Abstract: An automated driving system of a vehicle includes a driver monitoring unit configured to perform at least one of monitoring a gaze of a driver and determining a position of a hand of the driver, an automated-driving-level switching unit configured to determine whether a transition of a driving control over the vehicle is required based on whether driving environment of the vehicle has changed during the vehicle being driven under control of the automated driving system, and determine an automated driving level to be switched based on a driver monitoring result obtained by the drive monitoring unit, and an automated driving control unit configured to control the vehicle according to the automated driving level.

Abstract: A transportation vehicle, infrastructure component, apparatus, computer program, and method for a transportation vehicle configured to be remotely operated by a remote driver in a remote driving mode and to be operated at least partially automatically in an automated driving mode. The method includes determining automated driving preferences of the transportation vehicle from driving behavior of the transportation vehicle, predicting information on a future traffic situation for switching from the remote driving mode to the automated driving mode, determining a predicted quality of service (pQoS) of a communication link to obtain a remote operation interval for which the transportation vehicle is at least operable in the remote driving mode, obtaining a handover duration for taking over control by the transportation vehicle for switching from the remote driving mode to the automated driving mode, and deciding for or against switching from the remote driving mode to the automated driving mode.

Abstract: A bogie for a railway vehicle includes a frame, which has a first side beam and a second side beam extending along a longitudinal axis of the bogie and spaced apart from each other. A secondary suspension system is located on the frame and includes a first suspension assembly, which includes a first air spring and a first auxiliary spring positioned at the first side beam. The first air spring is positioned below and is arranged to be pressurized for supporting the body of the railway vehicle above the frame. The first auxiliary spring is fixed to an upper side of the first side beam underneath and spaced apart from the first air spring. The first suspension assembly further includes a first force-transmission mechanism configured to transmit forces exerted by the body on the first air spring to the frame via the first auxiliary spring.