Abstract: A vehicular sensing system includes a radar sensor that is operable to capture radar data. The radar sensor includes a transmitter that transmits radio signals and a receiver that receives radio signals. The radar sensor is integrated into a seat body or a seatbelt of the vehicle. Electronic circuitry of an electronic control unit includes a data processor for processing sensor data captured by the radar sensor. The vehicular sensing system, responsive to processing of sensor data captured by the radar sensor while an occupant of the vehicle occupies the seat and/or wears the seatbelt, determines a health characteristic of the occupant.

Abstract: The present disclosure generally relates to autonomous vehicle (AV) training and, more specifically, to AV prediction layer training. In some aspects, the present disclosure provides a process for receiving road data representing a real-world environment encountered by an AV and generating, using a prediction layer of the AV, a predicted trajectory of a target vehicle, wherein the predicted trajectory comprises one or more waypoints and wherein the predicted trajectory is based on the road data. In some aspects, the process can further include steps for calculating a distance metric for the predicted trajectory, wherein the distance metric is based on a distance between the one or more waypoints and one or more corresponding drivable areas and updating the prediction layer of the AV based on the distance metric. Systems and machine-readable media are also provided.

Abstract: A display control device that displays an image in a display area of a display unit showing a scene ahead of a vehicle or an image replicating the scene ahead. The display control device includes a detection section that detects a lead vehicle, and a display control section that, based on an acceleration or deceleration of a specific value or greater occurring in the vehicle due to following cruise control with the lead vehicle as a follow target, displays an image corresponding to acceleration or deceleration in the display area between the vehicle and the lead vehicle.

Abstract: A method for operating an active roll support system of a motor vehicle, in which a roll moment distribution is regulated below a sideslip angle threshold on the basis of an actual grip reserve of a rear axle relative to a front axle of the motor vehicle. A wheel load is acquired for each of the wheels of the front axle and for each of the wheels of the rear axle and the acquired wheel loads are used as feedback variables in a control loop for regulating the roll moment distribution to calculate the actual grip reserve of the rear axle and compare it with a target grip reserve of the rear axle and from this determine a control deviation for adapting the roll moment distribution.

Abstract: The current disclosure provides techniques for using human driving behavior to assist in decision making of an autonomous vehicle as the autonomous vehicle encounters various scenarios on the road. For each scenario, a model may be generated based on human driving behavior that governs how an autonomous vehicle maneuvers in that scenario. As a result of using these models, reliability and safety of autonomous vehicle may be improved. In addition, because the model is programmed into the autonomous vehicle, the autonomous vehicle, in many instances, need not consume resources to implement complex calculations to determine driving behavior in real-time.

Abstract: System, methods, and other embodiments described herein relate to vigilance evaluator. In one embodiment, a method includes receiving a vertical force measurement based on a force sensor attached to a steering column; and estimating a level of operator vigilance based on the vertical force measurement.

Abstract: A driver state detection device provided with a driver monitor camera configured to capture the face of a driver of a vehicle to generate a facial image of the driver and a control device. The control device is configured so as to detect the facial orientation or the line-of-sight direction of the driver based on the facial image, judge that the driver is driving distracted when the facial orientation or the line-of-sight direction of the driver is maintained for greater than or equal to a predetermined time period at the outside from the allowable range allowed as the facial orientation or the line-of-sight direction of the driver, and set the allowable range based on an operating parameter which is in a correlative relationship with steering operation of the steering wheel of the vehicle and the speed of the vehicle.

Abstract: A vehicle safety system (37) includes at least one image sensor device (17), a control unit arrangement (5, 20, 22) and at least one warning device (11, 12). The image sensor device (17) is arranged to detect eye configurations of a vehicle driver (19). When the warning device (11, 12) is initiated to emit a first warning signal, the control unit arrangement (5, 20, 22) is arranged to determine if the vehicle driver (19) at least partly is looking outside a warning area (24, 25) that at least partly encompasses the warning device (11, 12), and in that case to issue a second warning signal.

Abstract: A method at a computing device for a vehicle, the method including observing, using sensors of the vehicle, behavior of an external road user; producing at the computing device a normalized safety score for the external road user; recording identifying information for the external road user; and reporting the normalized safety score and identifying information to a server.

Abstract: A method, apparatus, and system for collecting and evaluating powered vehicle operation utilizing on-board diagnostic components and location determining components or systems. The invention creates one or more databases whereby identifiable behavior or evaluative characteristics can be analyzed or categorized. The evaluation can include predicting likely future events. The database can be correlated or evaluated with other databases for a wide variety of uses.

Abstract: Disclosed herein are methods for determining an estimated weight of a vehicle. The methods comprise operating at least one processor to: receive vehicle data associated with the vehicle, the vehicle data comprising a plurality of vehicle parameters collected during operation of the vehicle; identify one or more vehicle maneuvers based on the vehicle data, each vehicle maneuver being associated with a portion of the vehicle data; and use at least one machine learning model to determine the estimated weight of the vehicle based on the portion of the vehicle data associated with each of the one or more vehicle maneuvers, the at least one machine learning model trained using training data associated with a plurality of previous vehicle maneuvers. Also disclosed are systems for implementing methods of the present disclosure.

Abstract: The disclosed embodiments are directed to detecting persons or animals trapped in vehicles and providing automated assistance to such persons or animals. In one embodiment a method is disclosed comprising detecting that a vehicle is stopped; activating at least one camera and recording at least one image of an interior of the vehicle using the at least one camera; classifying the at least one image using a machine learning model; and operating at least one subsystem of the vehicle in response to detecting that classifying indicates that a person or animal is present in the at least one image.

Abstract: An information processing device for a vehicle includes an observed value detection unit, a tracking unit, and an abnormality determination unit. The abnormality determination unit determines whether a vehicle speed abnormality has occurred. If it is determined that no vehicle speed abnormality has occurred, the tracking unit performs a first process using a predicted value of a relative speed based on a detection result of a vehicle speed to calculate a current estimated value. If it is determined that the vehicle speed abnormality has occurred, the tracking unit performs a second process different from the first process to calculate the current estimated value.

Abstract: In one embodiment, a microcontroller unit (MCU) receives an expected state of an autonomous driving vehicle (ADV) from a controller of the ADV, where the controller controls motions of the ADV using a control algorithm. The MCU receives sensor data from one or more sensors of the ADV. The MCU determine an actual state of the ADV based on the sensor data. The MCU determines a performance metric of the control algorithm based on the expected state and the actual state. In response to determining the performance metric has satisfied a predetermined condition, the MCU determines a plurality of weight values for the control algorithm. The MCU sends the plurality of weight values to the control system to tune one or more weight parameters of the control algorithm using the plurality of weight values, where the controller controls the ADV using the tuned control algorithm.

Abstract: A system can perform a method that includes receiving sensor data from one or more sensors. The system can execute a sample-based estimator on the sensor data. The sample-based estimator optimizes a probability distribution dilation of the sensor data based on a minimum measurement uncertainty value to minimize aliasing in the sample-based estimator.

Abstract: Embodiments of present disclosure relates to method and system of controlling operations of the vehicle based on the requirements of the occupants in the vehicle. The occupant support system receives data from a plurality of sources installed in the vehicle. The occupant support system identifies one or more unstated requirements of an occupant in the vehicle based on the data. The occupant support system determines one or more changes associated with one or more operations of the vehicle, based on the one or more unstated requirements. The occupant support system determines feasibility of implementing the one or more changes for controlling the one or more operations of the vehicle. Thereafter, the occupant support system controls the one or more operations of the vehicle, based on the feasibility.

Abstract: A method for overriding a manually disabled advanced driver assistance system (ADAS) safety feature is described. The method includes activating background operation of the manually disabled ADAS safety feature. The method also includes monitoring driving safety violations by a vehicle operator detected by the background operation of the manually disabled ADAS safety feature during vehicle operation. The method further includes determining whether the vehicle operator is impaired based on monitoring of the vehicle operator. The method also includes re-enabling the manually disabled ADAS safety feature to issue an alert to the vehicle operator when the vehicle operator is impaired and a number of driving safety violations is greater than a predetermined safety threshold.

Abstract: Systems and methods are provided to notify an operator of an active and correctly operating driving automation system. More specifically, the notification is executed through modulation of longitudinal vehicle dynamics based on cruising speed or following distance to a leading vehicle.

Abstract: In an embodiment of a vehicle and a control method thereof, the vehicle can include a switch configured to generate a signal for the vehicle to perform emergency stopping during driving, and a driving controller configured to control the vehicle to perform the emergency stopping by the signal generated by the switch. The driving controller can be configured to control the vehicle to perform the emergency stopping in response to the signal being generated for a first input to the switch and in response to the signal being generated after a period of time for a second input to the switch, wherein the second input is different from the first input.

Abstract: An in-vehicle driving assistance device, comprising a decision unit configured to decide whether or not to use a driving assistance function based on a travel environment of a vehicle, a notification unit configured to notify a driver of the vehicle of a guidance recommending use of the driving assistance function in a case where the decision unit decides that the driving assistance function is usable, a recording unit configured to record a reaction from the driver to the notification by the notification unit as a reaction history, and a determination unit configured to determine a mode of the notification by the notification unit based on the reaction history recorded in the recording unit.

Abstract: A method is provided for autonomously or semi-autonomously operating a motor vehicle using a DAS (driving assistance system) that is operated in real terms with a first hardware version and/or software version (20). Real operating data (12) are recorded during operation of the DAS with the first hardware version and/or software version and also are recorded during operation of the motor vehicle by the driver with or without assistance from the DAS. The DAS is operated virtually in a shadow mode (9) with at least a second hardware version and/or software version. Virtual operating data are determined during operation of the DAS with the second hardware version and/or software version. Real operating data (12) are compared with virtual operating data, and the result of the comparison is used to make the driver aware of the advantages of switching from the first (20) to the second hardware version and/or software version.

Abstract: A vehicle display control device in a vehicle, the device includes a memory, a processor coupled to the memory, and a display device. In a case in which a predetermined travel assistance function is not in operation, the processor controls the display device such that a first display image is projected onto a display region, the first display image including information indicating a drive state of the drive source and information corresponding to a travel state of the host vehicle, and in a case in which the predetermined travel assistance function is in operation, the processor controls the display device such that a second display image is projected onto the display region, the second display image omitting display of the drive information and including a symbol indicating the predetermined travel assistance function and information indicating an operation state of the predetermined travel assistance function.

Abstract: A scene creation system for an autonomous vehicle includes one or more controllers executing instructions to receive perception data and map data of a roadway the autonomous vehicle is traveling along, and identify a plurality of lane segments of the roadway that the autonomous vehicle travels along based on the perception data and the map data. The one or more controllers connect the plurality of lane segments together based on a spatial relationship between the plurality of lane segments to create a lane graph. The one or more controllers classify each of the plurality of lane segments of the lane graph to one or more lane attributes and reassemble the plurality of lane segments to create a representation of the roadway. The one or more controllers recreate a scene of an environment surrounding the autonomous vehicle based on the representation of the lanes that are part of the roadway.

Abstract: Systems and techniques are provided for processing sensor data using a machine learning model. An example method can include receiving, by a machine learning model configured to perform object detection, sensor data corresponding to one or more sensors on an autonomous vehicle; determining, based on the sensor data, a first object prediction by a first detection head of the machine learning model, wherein the first detection head is configured to generate the first object prediction based on a first input from a first sensor from the one or more sensors; and determining, based on the sensor data, a second object prediction by a second detection head of the machine learning model, wherein the second detection head is configured to generate the second object prediction based on a fusion of the first input from the first sensor and a second input from a second sensor from the one or more sensors.

Abstract: The techniques and systems herein enable robot management in populated areas. Specifically, a vehicle system receives sensor data indicating aspects of an environment proximate a vehicle that comprises the vehicle system. Based on the sensor data, it is determined whether robots are in the environment proximate the vehicle. Responsive to determining that a robot is in the environment proximate the vehicle, attributes of the robot are determined based on the sensor data. A robot message is then generated that includes indications of the attributes of the robot, and the robot message is transmitted for receipt by a robot management system. By using the described techniques, the robot management system can leverage the vast number of vehicles with advanced sensor suites to monitor robots. Doing so may enable verification of routes and identification of robots that are not registered.

Abstract: A server that manages a plurality of movable bodies generates an operation plan of each of the plurality of movable bodies and instructs each of the plurality of movable bodies to operate in accordance with the generated operation plan. The server is configured to perform determining, before it instructs each of the plurality of movable bodies to operate, whether or not contention will occur, the contention referring to a plurality of movable bodies standing by at a same stand-by point at the same timing if the server instructs each of the plurality of movable bodies to operate in accordance with the operation plan, and modifying the operation plan of at least one of a plurality of contending movable bodies to avoid the contention when it determines that the contention will occur.

Abstract: The present invention provides a vehicle motion control device configured to set speed of an own vehicle in consideration of not only nearby information of the own vehicle but also long-distance information of the own vehicle, so as to reduce an unexpected behavior of the vehicle occurring during travel. The vehicle motion control device includes: a nearby information acquisition unit configured to acquire nearby information of a vehicle; a long-distance information acquisition unit configured to acquire long-distance information of the vehicle; and a speed planning unit configured to generate a speed command value as a travel target of the vehicle, based on the nearby information and the long-distance information.

Abstract: A route deciding method, system, and device, and a medium. The method comprises: dividing the drivable road between the current position of a driverless vehicle and a destination into a plurality of waypoints; determining a target waypoint from among the waypoints between the current position of the driverless vehicle and the destination, and calculating the global cost from the target waypoint to the destination so as to obtain the waypoint value of the target waypoint; iteratively calculating the waypoint values of the waypoints between the target waypoint and the current position of the driverless vehicle according to the waypoint value of the target waypoint; and determining in real time the action at the current position according to the waypoint value of the next waypoint corresponding to the current position of the driverless vehicle so as to obtain the current route decision result on driving to the destination.

Abstract: A vehicular control system includes a camera disposed at a vehicle that captures image data. The system includes an image processor for processing image data captured by the camera. The system, responsive to processing by the image processor of image data captured by the camera, detects a traffic light in front of the vehicle. The detected traffic light includes a plurality of traffic signals and each traffic signal includes a visual indication for controlling traffic. The system, responsive to detecting the traffic light, generates a digitized traffic light data structure that includes (i) a position of the detected traffic light, (ii) an orientation of the detected traffic light, and (iii) at least one attribute of each traffic signal of the traffic light. The vehicular control system, using the digitized traffic light data structure, autonomously controls a feature of the vehicle.

Abstract: In a vehicle control device 100, a rough-road travel unit 1008 determines whether or not there is a rough road within a predetermined range in front of a vehicle based on a position of the vehicle estimated by a position estimation unit 1001 and a position of a rough road acquired by a map information acquisition unit 1011, and determines whether or not the rough road has been detected based on road surface information acquired by an outside environment information acquisition unit 1002.

Abstract: Systems and methods for increasing the privacy of occupants of a vehicle are disclosed. In one example, a system includes a processor and a memory that has a privacy module with instructions. The instructions cause the processor to determine a first vehicle viewing area of a first vehicle and a second vehicle viewing area of a second vehicle. In response to determining when the first vehicle viewing area at least partially overlaps the second vehicle viewing area, the instructions cause the processor to send a control signal to control a longitudinal position of the first vehicle and/or the second vehicle such that the first vehicle viewing area does not overlap the second vehicle viewing area.

Abstract: A vehicle control device that performs sleep-permitted automated driving during which a driver is permitted to sleep is configured to estimate a condition of the driver and to exercise control to reduce stimulation to the driver when it is estimated that the driver is in a sleep state during the sleep-permitted automated driving of the vehicle.

Abstract: A vehicle device or a vehicle estimation method estimates whether the driver is in an abnormal state different from a sleeping state by using a plurality of types of sensors, determines whether the vehicle is in a sleep-permitted automated driving or a sleep-unpermitted driving. When determining that the vehicle is in the sleep-unpermitted driving, the device or the method estimates whether the driver is in the abnormal state by using the plurality of types of the sensors. When determining that the vehicle is in the sleep-permitted automated driving, the device or the method reduces the plurality of types for estimation.

Abstract: Aspects of the subject technology relate to systems, methods, and computer-readable media for predicting trajectories of agents in an autonomous vehicle (“AV”) environment based on semantic interactions between the agents and AVs. Raw data of an AV operating in an environment can be accessed. An interaction model that models semantic interactions between agents in driving environments can be accessed. A probability distribution of various semantic interactions of an agent with respect to the AV in the environment can be identified through application of the interaction model. Different trajectories of the agent in the environment can be predicted according to the probability distribution of the various semantic interactions of the agent with respect to the AV through application of the interaction model.

Abstract: The path planning system projects a plurality of path distance point clouds to a path image to generate a path and distance point composition image, and then input the path and distance point composition image to a deep learning model and a probabilistic graphical model to obtain a path segmentation image. The path planning system obtains an adjacent lane point cloud and a main lane point cloud. The path planning system clusters the adjacent lane point cloud and the main lane point cloud, calculates an adjacent lane cluster center and a main lane cluster center, and transforms a LIDAR coordinates of the adjacent lane cluster center and the main lane cluster center to a car coordinate. The path planning system obtains a changing path and a main path by smoothing the car coordinate, and selects the changing path or the main path as a driving path according to obstacle information.

Abstract: An AV may determine a degradation score based on data indicating a condition of an environment where the AV operates to provide a service. The degradation score may indicate a degradation in a performance of the AV (e.g., one or more sensors of the AV) under the condition. After determining that the degradation score is higher than a threshold, the AV may pause the service, e.g., by moving out of the traffic lane or pulling over. The AV may re-check the condition later and determine a new degradation score. After determining that degradation score is lower than the threshold, the AV may resume the service, e.g., by moving back to the traffic lane. The AV may determine that the degradation score is higher than another threshold and in response to the determination, stops where it is, e.g., in a traffic lane. The AV may request remote assistance or retrieval.

Abstract: A computer-implemented method includes: advertising, by a computing device, at least one service including information from a learned knowledge base by a service provider vehicle within an autonomous vehicle ecosystem; connecting, by the computing device, the service provider vehicle to a service consumer vehicle within the autonomous vehicle ecosystem through a communication network; and sharing, by the computing device, the at least one service including the information from the learned knowledge base through a connection between the service provider vehicle and the service consumer vehicle using the communication network.

Abstract: The disclosed technology provides solutions for determining, by an autonomous vehicle, whether to yield to a target vehicle at a major-minor intersection based on an estimated trajectory for the target vehicle and road sign data. A method comprising: navigating an autonomous vehicle (AV) along a first roadway, wherein the first roadway intersects with a second roadway; receiving, by the AV, road data indicative of at least one road sign on the first roadway; updating a prediction model based on the received road data; implementing the prediction model to determine an estimated trajectory for a target vehicle on the second roadway; and updating a planned trajectory of the AV based on the estimated trajectory for the target vehicle. Systems and machine-readable media are also provided.

Abstract: Systems and techniques are provided for multimodal trajectory predictions of an object near an autonomous vehicle (AV) based on geometric anchoring. An example process can include identifying one or more predicted trajectories of an object within a proximity of an AV; assigning modes to the one or more predicted trajectories, wherein a respective mode is assigned to each predicted trajectory of the one or more predicted trajectories based on a geometry of the predicted trajectory of the object; determining probabilities of the modes based on one or more parameters, wherein a first mode of the modes is associated with a first probability and a second mode of the modes is associated with a second probability; and updating a planned behavior of the AV based on a combination of the first mode associated with the first probability and the second mode associated with the second probability.

Abstract: An autonomous driving method implemented by using an automatic driving model is provided. The autonomous driving model comprises a multimodal encoding layer and a decision control layer. The autonomous driving method includes: obtaining first input information of the multimodal encoding layer; inputting the first input information into the multimodal encoding layer to obtain an implicit representation corresponding to the first input information output by the multimodal encoding layer; and inputting second input information including the implicit representation into the decision control layer to obtain target autonomous driving strategy information output by the decision control layer.

Abstract: Provided herein is a system for determining whether hands-free driving operation should be activated. The system is implemented in conjunction with a vehicle, and the system includes a control unit. The control unit is configured to: retrieve historical data associated with hands-free operation of the vehicle, generate, based upon the historical data, an operational map, receive, from the vehicle, current vehicle data, determine, based upon the operational map and the current vehicle data, that hands-free operation is available, and notify the driver that the hands-free operation is recommended.

Abstract: A vehicle control device has a processor configured to determine whether an automatic control prohibited region is included on a traveling lane, set a control transfer region on the traveling lane before the automatic control prohibited region, determine whether a vehicle passage region on a traveling lane through which the vehicle is scheduled to pass when the vehicle moves between lanes includes at least part of the control transfer region, and newly set the automatic control prohibited region to include the vehicle passage region, wherein the control transfer region is newly set by shortening a length of the control transfer region so that the control transfer region is not included in the vehicle passage region, when the vehicle passage region includes at least part of the control transfer region and the control transfer region satisfies a predetermined condition.

Abstract: A method controls the operation of container handling vehicles and remotely operated specialized container handling vehicles. A specified storage container is to be transferred from a storage column and its corresponding grid cell to a specialized container handling vehicle.

Abstract: An aluminum alloy metro vehicle body section bar capable of matching and combining includes a roof section bar, an upper edge beam section bar, a side wall section bar, a lower edge beam section bar and a floor section bar, wherein the roof section bar comprises roof edge section bars of two widths; the upper edge beam section bar comprises an upper edge beam of a drum-shaped vehicle and an upper edge beam 4b of the trapezoidal vehicle; the side wall section bar comprises a side wall middle section bar of the drum-shaped vehicle and a side wall middle section bar of the trapezoidal vehicle; the lower edge beam section bar comprises a lower edge beam of the drum-shaped vehicle and a lower edge beam of the trapezoidal vehicle; and the floor section bar comprises underframe edge section bars of two widths.

Abstract: The present invention relates to a coupler with an angular position detection assembly, the coupler (10, 10?, 10?) comprising: —a front part (11), —a rear part (12), —a rotatable joint (20) comprising a first portion (21, 23) and a second portion (22, 24), said first portion (21, 23) being rotatably attached to the second portion (22, 24), wherein the first portion (21, 23) is attached to the front part (11) and the second portion (22, 24) is attached to the rear part (12) so that the front part (11) of the coupler is rotatable in relation to the rear part (12), and the angular position detection assembly (30) comprising: —a first sensor (31) arranged in connection with one of the first portion (21, 23) and the second portion (22, 24) of the joint (20) and configured to detect or measure a parameter indicative of an angular position of the first portion (21, 23) in relation to the second portion (22, 24), —a transmitter (32) for receiving signals and transmitting them to processing circuitry (40).

Abstract: A sensor device includes an audio sensor and a wireless communication module. The audio sensor is configured to be mounted on a railroad vehicle. The audio sensor is configured to (i) monitor sounds emanating from one or more wheels of the railroad vehicle as the railroad vehicle moves along a track and (ii) generate sound data associated with the monitored sounds emanating from the one or more wheels. The wireless communication module is configured to transmit a broken wheel signal responsive to a determination that a portion of the generated sound data is indicative that a first one of the one or more wheels is damaged or broken.

Abstract: Systems and methods are provided for achieving vital ultra-wideband (UWB) based train control. Train-mounted units and wayside units that incorporate at least two separate and independent radios are used to obtain independent and separate ranging measurements in trains based on communications between the train-mounted units and wayside units. The communications includes communication of ultra-wideband (UWB) based signals.

Abstract: A system and method for providing a virtual approach signal restriction upgrade between physical signaling components is presented. In one embodiment, in a CTC type of operation, the use of a virtual signal with signal type functionality to split a block into two or more sections can allow a train currently governed by an approach indication to accelerate on a clear indication if the advance signal indication upgrades. The addition of audio frequency type circuits with the advance signal indication can allow a train to upgrade from a restricting indication to an approach or clear indication, while protecting open HT switches, broken rail, hazards, and follow up moves. The present invention provides a system for allowing trains to upgrade from a “restricting” indication to an “approach” or “clear and accelerate” indication with an upgraded PTC track line for the segment.

Abstract: A system and method for providing a virtual approach signal restriction upgrade between physical signaling components is presented. In one embodiment, in a CTC type of operation, the use of a virtual signal with signal type functionality to split a block into two or more sections can allow a train currently governed by an approach indication to accelerate on a clear indication if the advance signal indication upgrades. The addition of audio frequency type circuits with the advance signal indication can allow a train to upgrade from a restricting indication to an approach or clear indication, while protecting open HT switches, broken rail, hazards, and follow up moves. The present invention provides a system for allowing trains to upgrade from a “restricting” indication to an “approach” or “clear and accelerate” indication with an upgraded PTC track line for the segment.

Abstract: A system and method for providing a virtual approach signal restriction upgrade between physical signaling components is presented. In one embodiment, in a CTC type of operation, the use of a virtual signal with signal type functionality to split a block into two or more sections can allow a train currently governed by an approach indication to accelerate on a clear indication if the advance signal indication upgrades. The addition of audio frequency type circuits with the advance signal indication can allow a train to upgrade from a restricting indication to an approach or clear indication, while protecting open HT switches, broken rail, hazards, and follow up moves. The present invention provides a system for allowing trains to upgrade from a “restricting” indication to an “approach” or “clear and accelerate” indication with an upgraded PTC track line for the segment.