Abstract: A parking brake system of a tipper vehicle having a tiltable tipper body is described. The system comprises a parking brake having a brake chamber which is pressurizable for releasing the parking brake. A valve device is in fluid communication with the brake chamber, the valve device comprising an exhaust port. The valve device has an activated state in which the brake chamber is in fluid communication with the exhaust port whereby air from the brake chamber is discharged, thereby applying the parking brake, and an inactivated state in which said fluid communication is disconnected. Upon receipt of a tipping signal, a neutral gear signal and a low speed signal, and upon detecting that the parking brake is still in the released state, the valve device is changed from the inactivated state to the activated state in order to exhaust air from the brake chamber, causing the parking brake to become changed to the applied state.

Abstract: A parking brake for a wheel rotor having a brake pad associated therewith includes a housing defining first and second passages. First and second pistons are provided in the respective first and second passages. Spindles are threadably connected with each piston. An electromagnetic locking mechanism provided between the spindles having a first magnetic polarity for placing the locking mechanism in a first condition allowing relative rotation between the spindles and the pistons such that the pistons are axially movable within the passages and into engagement with the brake pad in response to hydraulic pressure applied to the pistons. The electromagnetic locking mechanism has a second magnetic polarity for placing the locking mechanism in a second condition preventing relative rotation between the spindles and the pistons such that the pistons remain engaged with the brake pad when hydraulic fluid pressure is removed from the pistons.

Abstract: A braking system for a motorcycle has a first braking device operatively connected to a first wheel of the motorcycle and having a first hydraulic supply circuit, a first electric actuator operatively connected to a first electrically or electro-mechanically actuated piston, and a first interface port operatively connected to a first hydraulic device provided with a first manually actuated piston subdivided into a first direct piston and a first indirect piston hydraulically connected to the first hydraulic supply circuit through a first by-pass duct. A hydraulic fluid reservoir is connected to the first hydraulic device by an upstream connection duct of the first indirect piston and a downstream connection duct of the first indirect piston.

Abstract: Disclosed herein are an electro-mechanical brake system and a controlling method thereof. The electro-mechanical brake system according to the present embodiment includes a driving part including a motor configured to generate a driving force and a brake pad configured to brake a vehicle or release braking by moving forward and backward with respect to a disc by the motor, a sensor part including a first sensor configured to output a signal corresponding to a stroke of the motor, a second sensor configured to output a signal corresponding to a force applied from the disc to the brake pad, and a third sensor configured to output a signal corresponding to an active brake condition of the vehicle, a controller configured to estimate and update a contact point between the disc and the brake pad, whenever a braking input of the brake pad or release thereof occurs.

Abstract: This application discloses a brake assembly, a brake system, a vehicle, and a brake system control method. The brake assembly includes a cylinder body, a piston, an elastic piece, and a driving piece. The piston is mounted in an inner cavity of the cylinder body, so that the piston and the inner cavity of the cylinder body form an accommodating cavity. The driving piece and the elastic piece are disposed in the accommodating cavity, and the driving piece is connected to the piston through the elastic piece. The driving piece drives, through the elastic piece, the piston to move, so as to drive a brake to brake. When braking is canceled, the elastic piece can provide a pulling force for the piston, so that the piston is reset quickly. Therefore, the solutions can help reduce a dragging torque, reduce travel resistance of a vehicle.

Abstract: A guide pin assembly for use with heavy-duty vehicle disc brake systems, the guide pin assembly comprising a hollow guide pin, a fastener, a separate torque-separable shear adaptor. The guide pin mounts a component of the disc brake system. The fastener is at least partially disposed through the guide pin and engages another component of the disc brake system to attach the guide pin to the other component. The shear adaptor is at least partially disposed within the guide pin and is removably attached to the fastener.

Abstract: An accumulator piston device having an accumulator piston which, on a circumference of a first shaft portion, has a first guide ring which surrounds the piston shaft and which protrudes radially over an externally dimensionally larger second shaft portion of the piston shaft.

Abstract: The present disclosure relates to a system and method of detecting a brake fluid leakage for detecting whether a brake fluid of a vehicle is leaking and a position of the leakage. The method of detecting a brake fluid leakage according to an embodiment of the present disclosure includes detecting a level of the brake fluid stored, detecting whether the vehicle is braking, and diagnosing whether the brake fluid is leaking and the position of the leakage when the level of the brake fluid falls below a reference level and a state of the vehicle is detected as a non-braking state.

Abstract: Vehicles and related systems and methods are provided for managing an electrical system. One method involves determining an estimated power consumption associated with one or more loads coupled to an electrical grid, obtaining a current voltage associated with the electrical grid, identifying an expected duration associated with an operating state associated with the vehicle electrical system, determining an energy threshold for the expected duration associated with the operating state based at least in part on the current voltage and the estimated power consumption, and autonomously operating the vehicle electrical system in a manner that is influenced by the energy threshold associated with the operating state.

Abstract: Systems and methods for commanding an electric drive system for an electric or hybrid vehicle are described. In one example, the drive system is commanded by a controller that supplies a pulsed torque command that varies in frequency as a function of electric machine speed when a driver of a vehicle requests a constant driver demand torque.

Abstract: A control system for a vehicle configured to stabilize a behavior of the vehicle by controlling a split ratio of torque distributed to front wheels and rear wheels. In the vehicle, a split ratio of the torque distributed to the front wheels and to the rear wheels through a transfer is changed by a torque of the motor. The control system is configured to execute a drive force distribution control to control the torque of the motor to adjust the split ratio to a target ratio, and to execute a turning behavior stabilizing control instead of the drive force distribution control to temporarily increase the torque of the motor when the vehicle is understeering or oversteering.

Abstract: A second ECU of the control device generates second vehicle position information based on the look-ahead information and the first vehicle position information sent at a predetermined timing, and generates a traveling plan such that electric traveling is performed in a specific section, based on the second vehicle position information and the look-ahead information. In determination about the entrance and the exit for the specific section based on the second vehicle position information and the look-ahead information, the second ECU provides a margin for at least one of a start point and a finish point of the specific section such that the margin corresponds to the at least one of the entrance and the exit for which the notification by the first notification function is performed.

Abstract: A mobile object includes: a first braking/driving torque application unit that applies first braking/driving torque to a right driving wheel; a second braking/driving torque application unit that applies second braking/driving torque to a left driving wheel; a right driven wheel and a left driven wheel each of which is constituted of a caster wheel; and a control unit that controls the first braking/driving torque application unit and the second braking/driving torque application unit. Moreover, the control unit is configured to perform turning, advancing/reversing and braking of the mobile object by controlling the first braking/driving torque and the second braking/driving torque or by controlling rotational speed of the right driving wheel and rotational speed of the left driving wheel.

Abstract: An apparatus for recording a travel trajectory for a parking maneuver by a vehicle is disclosed. The apparatus is configured to record, during a travel of the vehicle, a first section of the travel trajectory, in which the longitudinal and/or the lateral guidance of the vehicle is effected manually by the driver of the vehicle. The apparatus is furthermore configured to recognize, during the travel of the vehicle, that an automatic parking maneuver needs to be performed, and to record, during the performance of the automatic parking maneuver as a continuation of the travel of the vehicle, a second section of the travel trajectory, in which the longitudinal and/or the lateral guidance is effected in an automated manner by the vehicle.

Abstract: A merge assist apparatus to be applied to a vehicle includes a receiver, a processor, and a transmitter. The receiver is configured to receive a first request signal including merging point data regarding a position of a merging point at which a first vehicle plans to merge. The processor is configured to determine whether the vehicle is able to decelerate to a speed less than or equal to a predetermined speed before the vehicle reaches the merging point, based on the merging point data included in the first request signal. The transmitter is configured to transmit, to a second vehicle traveling behind the vehicle, a second request signal including the merging point data included in the first request signal when the processor determines that the vehicle is unable to decelerate to the speed less than or equal to the predetermined speed.

Abstract: In a method of collision prevention strategy for a vehicle and a vehicle control system of the same, the vehicle control system includes a recognition/determination unit which recognizes whether a front vehicle is a target vehicle which is stopped on the side either slowing down or stopped, and determines a state of road occupancy of the target vehicle; a driving situation determination unit which determines a driving situation of a host vehicle; a control strategy unit which determines a strategy before preventing collision according to the result of the recognition/determination unit and the driving situation determination unit; and an actuator operation unit which controls at least a warning mean, a steering device, and a braking device according to the determination of the control strategy unit.

Abstract: A vehicle control apparatus comprises, a sensor, mounted on a host vehicle, configured to detect an object outside of the host vehicle, and obtain host-vehicle-object-information on the detected object; a receiving device configured to receive external object information on an object detected by an external device outside of the host vehicle from the external device; and a control unit capable of performing a predetermined control based on at least the host-vehicle-object-information. The control unit is configured to perform the control based on the host-vehicle-object-information when a blocking condition is not satisfied, the blocking condition being a condition to be satisfied when a sensor object that is an object detected by the sensor is present at a position where the sensor object blocks a full scan of the sensor; and to perform the control based on the host-vehicle-object-information and the external object information when the blocking condition is satisfied.

Abstract: An obstacle detection controller of an articulated vehicle is configured to calculate a surrounding area in a turning direction of a towing vehicle and a towed vehicle, calculate a passage prediction area, calculate an area in which the surrounding area and the passage prediction area overlap as a monitoring area, and output an obstacle detection information indicating that an obstacle that may be entrapped by a turning of the towing vehicle and the towed vehicle has been detected, in response to the obstacle detected by an obstacle sensor being detected within the monitoring area.

Abstract: A system and method for insight-triggered opportunistic imaging in a vehicle are provided. In one embodiment, a plurality of images are captured opportunistically using an image capture device in a vehicle. A compressive sensing sampling technique is used to store a subset of image pixels of at least some of the plurality of images. A retention filter is applied to the plurality of images to select a subset of the plurality of images to retain based on a signal from a sensor in the vehicle. The retained image information can be sent to an entity external to the vehicle for processing.

Abstract: The disclosure relates to a computer-implemented method of expanding swarm data for controlling a motor vehicle by way of a driver assist system, wherein the swarm data for a route section include corresponding indicator swarm data regarding a course of at least two roadway or lane indicators on the route section, and wherein the swarm data are provided by registered roadway or lane indicator data. The method includes calculating, from the indicator swarm data, a minimum indicator swarm distance regarding the at least two roadway or lane indicators at one or more route section positions of the route section, and expanding the indicator swarm data regarding at least one of the at least two roadway or lane indicators with the indicator swarm distance at the one or more route section positions.

Abstract: A vehicle driving assistance apparatus executes a moving speed control of autonomously controlling a moving speed of a vehicle with respect to a set speed. When the moving speed control is being executed, and a consumed energy amount to move the vehicle by the moving speed control with respect to a first set speed which is the current set speed, is greater than the consumed energy amount to move the vehicle by the moving speed control with respect to a second set speed different from the first set speed, the vehicle driving assistance apparatus provides an operator of the vehicle with a proposal of changing the set speed from the first set speed to the second set speed. When the operator approves of the proposal, the vehicle driving assistance apparatus moves the vehicle by the moving speed control with respect to the second set speed.

Abstract: A vehicle control apparatus includes a candidate vehicle detection unit configured to detect a control target candidate vehicle which is a vehicle within a preset detection area of the external sensor and a viewing direction recognition unit configured to recognize a viewing direction of a driver of the host vehicle based on a captured image of a driver monitor camera of the host vehicle. The vehicle control apparatus includes a control target vehicle determination unit configured to determine a control target vehicle from among the plurality of control target candidate vehicles based on the viewing direction of the driver when there is the plurality of control target candidate vehicles.

Abstract: A device is provided for determining a value of a speed limit on a roadway on which a vehicle travels. The device is configured to determine that there is a roadwork situation on the roadway on which the vehicle travels. The device is additionally configured to adjust, in reaction to the determination of a roadwork situation, one or more operating parameters of an algorithm for determining the value of the speed limit.

Abstract: The vehicle control apparatus includes a cut-in detection unit for detecting a cut-in vehicle from an adjacent lane in front of a front vehicle traveling in front of an own vehicle, a deceleration prediction unit for predicting whether deceleration occurs in the front vehicle, and a travel control unit for performing acceleration suppression control or deceleration control of the own vehicle when it is predicted that deceleration occurs.

Abstract: In a vehicle control apparatus, an acquiring unit acquires factor information that causes acceleration or deceleration of the own vehicle while the own vehicle is subjected to the acceleration/deceleration control. A setting unit sets, based on the factor information, a maximum level of deceleration and/or a maximum level of acceleration. The maximum level of deceleration represents a maximum rate of reduction in a speed of the own vehicle during deceleration of the own vehicle. The maximum level of acceleration represents a maximum rate of increase in the speed of the own vehicle during acceleration of the own vehicle. A control unit is operative to perform (i) deceleration control of the own vehicle using the maximum level of deceleration as an upper limit for the deceleration control, and/or (ii) acceleration control of the own vehicle using the maximum level of acceleration as an upper limit for the acceleration control.

Abstract: When determining that, with an adjacent preceding vehicle selected as a tracking-control target, (i) an operated acceleration request for an own vehicle has been inputted to a vehicle control apparatus and (ii) the adjacent preceding vehicle is likely to be changed as an own-lane preceding vehicle, the vehicle control apparatus performs tracking control of the own vehicle with respect to the adjacent preceding vehicle. When determining that, with the adjacent preceding vehicle selected as the tracking-control target, (i) the operated acceleration request for the own vehicle has been inputted to the vehicle control apparatus and (ii) the adjacent preceding vehicle is unlikely to be changed as an own-lane preceding vehicle, the vehicle control apparatus terminates the tracking control of the own vehicle.

Abstract: To provide a vehicle control apparatus and a vehicle control method that makes it easy for the other vehicle to change lanes in back of the ego vehicle, by controlling the travel behavior of the ego vehicle, when the other vehicle is estimated to change lanes in back of the ego vehicle. A vehicle control apparatus acquires a periphery state of an ego vehicle, and a traveling state of an ego vehicle; estimates relative positions of one ore more other vehicles which travel on an adjacent lane adjacent to an ego lane where the ego vehicle is traveling, after a lane change to the ego lane, based on the periphery state and the traveling state; and increases a speed of the ego vehicle, when the relative position of the other vehicle after the lane change is in back of the ego vehicle.

Abstract: Systems, methods, and apparatuses are provided for operating a lane-change assistance system of a vehicle. An operating input from a driver is registered at an operating element, which is assigned to travel direction indicators. A blinking signal is output using the travel direction indicators after the registration of the operating input. A lane-change maneuver is started after registration of the operating input. A subsequent blinking signal is output following the blinking signal if the output of the blinking signal has ended and if ending of the lane-change maneuver has not yet taken place. The subsequent blinking signal is output at most for a first period of time if a current speed of the vehicle falls below a predetermined limiting speed. The subsequent blinking signal is output at most for a second period of time if the current speed of the vehicle exceeds the predetermined limiting speed.

Abstract: A controller includes: an acquisition part that acquires a detection result from a first sensor that is mounted on a vehicle and detects conditions of surroundings of the vehicle; a processing part that performs a first process or a second process, which is different from the first process, on the acquired detection result; a vehicle control part that controls the vehicle on the basis of a processing result of the processing part; and a receiving part that receives a processing operation related to processing of the detection result by a driver of the vehicle. When the receiving part receives the processing operation, the processing part switches between the first process and the second process.

Abstract: A method for the fusion of measurement data from a plurality of on-board sensors. Measurement data ascertained by a first group of sensors are received by a first controller or by a first module, and are fused to form a first environmental model. The measurement data are used with a first functional safety rating by the first environmental model, or the first environmental model is created based on the measurement data. Measurement data ascertained by at least one second group of sensors are received by at least one second controller or by at least one second module, and are fused to form at least one second environmental model. The measurement data of the second group are used with a second functional safety rating by the second environmental model, or the at least one second environmental model is created based on the measurement data of the second group.

Abstract: A system, e.g., an autonomous vehicle, includes a sensor suite, a controller, and a computer-controllable device. The sensor suite collects user data descriptive of the present emotional state of a human user, such as a passenger of the representative autonomous vehicle. The controller executes a method to control the system. In particular, the controller identifies the user's psychological mode of experience in response to the user data. The controller also selects one or more intervening control actions or “interventions” from a list of possible interventions based on the mode of experience, and then controls an output state of the device to implement the intervention(s). In this manner the controller is able to support or modify the mode of experience of the user.

Abstract: Provided is a method and an apparatus of inferring a stochastic driving characteristic of a driving vehicle. The driving characteristic inferring apparatus may include a model training unit which trains a plural driving characteristic model and an inference model using learning driving data of a learning driving vehicle, and a driving characteristic inferring unit which infers a driving characteristic coefficient representing a driving characteristic of a target driving vehicle with driving data of the target driving vehicle as an input of the inference model.

Abstract: A radar signal processing method for improved occupant vital monitoring includes a method for detecting vital signs using at least one radar sensor mounted to a vehicle. The method includes detecting a plurality of target candidates using the at least one radar sensor, analyzing the plurality of target candidates to generate a list of targets, steering the at least one radar sensor towards the target using the angle of arrival to the target, and detecting a vital signal of the target based on the range using the at least one radar sensor.

Abstract: The disclosure is generally directed to systems and methods for detecting and responding to speeding violations. An example method executed by a processor in a first vehicle (a law-enforcement vehicle, for example) can include receiving, from a vehicle speed detection system, a speed measurement associated with a second vehicle. The processor may determine that the speed of the second vehicle exceeds a threshold speed and may operate a camera to capture an image of the second vehicle. The image may be evaluated for determining at least one identifying feature of the second vehicle. A record may then be generated. The record can include the speed measurement, the image, and the first identifying feature. In some cases, the record may be transmitted to another law-enforcement vehicle for pursuing the second vehicle and/or to an Internet-of-Things (IoT) roadside unit for tracking the second vehicle.

Abstract: The embodiments of the present application provide a method and an apparatus for predicting an average energy consumption of an electric vehicle.

Abstract: An information processing system includes a pre-processor that obtains input data; a model processor that obtains output data by inputting the input data to part of a machine learning model, and outputs the output data; and a post-processor which obtains the output data from the model processor, and executes post-processing using the output data. The model processor obtains data indicating a feature as the output data, the data being data output from the part of the machine learning model for the input data and being obtained in the middle of the prediction performed by the data. The post-processor identifies the result of the prediction performed by the machine learning model by inputting the output data to a remaining part of the machine learning model, and executes post-processing on the result of the prediction.

Abstract: A method for determining a vehicle configuration (24) adapted to driving behavior of a person includes: determining a driving profile (20) of the person, wherein the driving profile (20) includes a speed profile and/or an acceleration profile of a vehicle (10) controlled by the person; determining category values (28) for the driving profile (20) for a plurality of vehicle configurations (24), wherein the category values (28) include one or both of an energy consumption and CO2 emissions of the particular vehicle configuration (24), wherein the energy consumption and/or the CO2 emissions are/is calculated from the speed profile and/or the acceleration profile; and determining an optimal vehicle configuration (24) by ascertaining vehicle configuration values (30) for each vehicle configuration (24) by weighting the category values (28) for each vehicle configuration (24) and selecting an optimal vehicle configuration value (30).

Abstract: The technology relates to partially redundant equipment architectures for vehicles able to operate in an autonomous driving mode. Aspects of the technology employ fallback configurations, such as two or more fallback sensor configurations that provide some minimum amount of field of view (FOV) around the vehicle. For instance, different sensor arrangements are logically associated with different operating domains of the vehicle. Fallback configurations for computing resources and/or power resources are also provided. Each fallback configuration may have different reasons for being triggered, and may result in different types of fallback modes of operation. Triggering conditions may relate, e.g., to a type of failure, fault or other reduction in component capability, the current driving mode, environmental conditions in the vicinity of vehicle or along a planned route, or other factors.

Abstract: An autonomous driving apparatus that automatically controls the steering and speed of a vehicle to cause the vehicle to travel includes: an abnormality detection part that detects at least one of an abnormality in a drive system of the vehicle and an abnormality in a sensor that detects surrounding situations when the steering and speed of the vehicle are automatically controlled; and an automatic control part that switches the automatic control of the speed to manual control in which the speed is controlled by a driver's operation if an abnormality has been detected by the abnormality detection part, and continues the automatic control of the steering until a predetermined waiting time has passed from the moment at which the automatic control of the speed was switched to the manual control.

Abstract: A vehicle control method includes obtaining sensor status information and autonomous driving function information, where the sensor status information includes information indicating that one or more sensors are in a failed state. The autonomous driving function information indicates a currently running autonomous driving function. The autonomous driving function includes a plurality of running conditions, and implementation of each running condition is related to one or more sub-functions. A driving policy is implemented based on the impact of a failure of the one or more sensors on the running condition and the currently running autonomous driving function.

Abstract: Provided are systems, methods, and computer program products for data-driven optimization of onboard data collection, comprising identifying a condition in a roadway associated with an operation of autonomous vehicles (AVs) that may be further optimized to improve performance of one or more AVs; and generating condition capture instructions to communicate to the AVs, wherein the condition capture instructions comprise one or more parameters of a storage request in one or more roadways predicted to exhibit the condition in the roadway; and when at least one instruction in the one or more condition capture instructions is received by an AV, the at least one instruction is configured to cause the AV to collect condition information in the roadway at a time when the condition is predicted to be present in the roadway.

Abstract: A multipurpose electric vehicle control system provides an electric vehicle made up of multiple detachably attached modules that can be interchanged to create different operational modes, and a control unit and a software that direct reconfigurations to vehicle subsystems, so as to selectively form different operational modes. The software also manages vehicle-related data. Exemplary reconfigurations to the structural configuration of vehicle subsystems include: performance settings, suspension adjustments, panel management, brake settings, transmission settings, security settings, battery management, power management, and entertainment settings. By making these reconfigurations to vehicle subsystems the electric vehicle selectively operates between a personal transport vehicle mode, a fleet service vehicle mode, and a commercial vehicle mode. The software also manages vehicle-related data, including: vehicle insurance, vehicle maintenance schedule, and vehicle service logs.

Abstract: A system for aiding an individual to cause a vehicle to make a turn correctly can include a processor and a memory. The memory can store a communications module and a controller module. The communications module can cause the processor to obtain information about a specific side of a road on which the vehicle is to be operated. The communications module can cause the processor to obtain information about a degree of familiarity of the individual in operating the vehicle on the specific side. The communications module can cause the processor to obtain information about a direction of the turn. The controller module can cause the processor to cause, in response to the degree of familiarity being less than a threshold and based on the information about the direction, a visual aid to be possibly presented to aid the individual to cause the vehicle to make the turn correctly.

Abstract: A device for recording a driving trajectory of a vehicle is disclosed. The device is configured to have the effect of automatically recording the driving trajectory of the vehicle during a journey of the vehicle and to check whether an information state is present or not. The device is also configured to detect degradation of the automatic recording of the driving trajectory of the vehicle during the journey of the vehicle, and to output degradation information relating to the degradation of the automatic recording of the driving trajectory of the vehicle when the information state is present.

Abstract: A control device includes a control unit configured to, when an emergency call is sent or received, check whether there is a disconnection or ground fault of a line that transmits a mute signal to the navigation device, and when the disconnection or ground fault of the line is detected, causes an output device to output predetermined data.

Abstract: The server obtains a first reduction amount of carbon dioxide emitted from the vehicle group and converts the first reduction amount of carbon dioxide into a first amount of the biological group. The server acquires a second reduction amount of carbon dioxide emitted from the first vehicle by driving of the first user associated with the first vehicle included in the vehicle group, and acquires a contribution degree of the first user in the first amount of the biological group based on the second reduction amount of carbon dioxide. The server causes the predetermined display device to display information indicating the first amount of the biological group and the degree of contribution of the first user.

Abstract: The disclosure is generally directed to systems and methods for preventing doored interactions between a vehicle and moving object. According to one or more embodiments, a method for a vehicle includes detecting that a moving object is approaching the vehicle when the vehicle is stationary, detect that a moving object is approaching the vehicle when the vehicle is stationary, provide an alert within the vehicle of the approaching moving object, prevent an actuation of a door latch from opening a door of the vehicle, and provide a visual alert to notify an operator of the moving object that an occupant of the vehicle is attempting to open the door of the vehicle.

Abstract: A system for a vehicle includes an imaging system and a controller. The imaging system outputs a signal that includes scene data of an area to a rear of the vehicle. The controller receives the scene data while a distance between the vehicle and the trailer is altered. The controller identifies a trailer within the area to the rear of the vehicle, identifies a plurality of keypoints of the trailer at a first time point—representing a first position, and identifies the plurality of keypoints of the trailer at a second time point—representing a second position. The controller estimates one or more dimensions of the trailer based on a change between the first position and the second position and determines one or more future vehicle paths based on such estimation. The one or more future vehicle paths correspond with vehicle maneuvers while the trailer is coupled to the vehicle.

Abstract: A computer includes a processor and a memory, and the memory stores instructions executable by the processor to sequentially activate a plurality of lamps aimed at a scene, the lamps mounted to a vehicle; receive image data of the scene generated while sequentially activating the lamps; generate a map of surface normals of the scene by executing a photometric stereo algorithm on the image data; and in response to a speed of the vehicle being below a speed threshold, navigate the vehicle based on the map of the surface normals.

Abstract: This disclosure provides methods and systems for dynamically creating a trajectory for navigating a vehicle. The method may include receiving sensor data from at least one sensor of the autonomous vehicle, the sensor data representative of a driving surface in a field of view of the autonomous vehicle; segmenting a portion of the driving surface in the field of view of the autonomous vehicle by determining nominal path based at least in part on the image data; assigning a plurality of nodes to at least a portion of the nominal path; associating the plurality of the nodes assigned to the nominal path with a line to generate at least one segmentation polyline; determining updated nominal path by fitting the each of the plurality of segmentation lines to the nominal path; generating a trajectory based on the updated nominal path; and navigating the autonomous vehicle according to the trajectory.