Abstract: A brake system for an electric vehicle, having two independent pressure build-up devices for building up hydraulic pressure in the brake circuits of the brake system. One of the pressure build-up devices is supplied with electrical energy via the high-voltage network of the electric vehicle. The other pressure build-up device is supplied with electrical energy via the low-voltage network of the electric vehicle.

Abstract: An actuator for an electric brake of a vehicle having a caliper assembly driven by a motor includes a gear train for transferring torque from the motor to the caliper assembly to brake the vehicle. The gear train has an input gear and a sun gear connected to one another. A load sensing device senses relative rotation between the sun gear and the input gear in response to rotation of the motor during a braking operation. A controller is connected to the load sensing device and configured to adjust the torque applied to the gear train in response to receiving signals from the load sensing device indicative of the relative rotation.

Abstract: An electromechanical brake may include a gear configured to provide power for braking when rotating in one direction and to provide power for releasing a braking state when rotating in the other direction, and having one or more grooves; a detent housing; a detent pivotably coupled to the detent housing to pivot between a first position and a second position, wherein the detent does not limit the rotation of the gear at the first position and the detent is engaged with the groove to limit the rotation of the gear at the second position; an actuator configured to cause the detent to be pivoted from the first position to the second position; and an elastic member configured to press the detent in a direction from the second position toward the first position.

Abstract: A hydraulic block for an electronic brake system of the present invention is disclosed.

Abstract: A pneumatic diaphragm brake cylinder for motor vehicles includes a housing part on the pressure side and a housing part facing away from the pressure side, as well as a diaphragm arranged therebetween, which divides the interior of the diaphragm brake cylinder into two chambers sealed off from one another, of which a first chamber has a pressure chamber loaded by a pneumatic pressure and a second chamber has a piston chamber for a piston actuated by the diaphragm. A peripheral fastening edge of the diaphragm is clamped between the pressure-side housing part and the housing part facing away from the pressure. The pneumatic pressure loads a surface of the diaphragm which is effective with respect to a working movement of the diaphragm. A reduction ring is provided which extends axially from the diaphragm into the housing part facing away from the pressure and which radially reduces or radially limits the effective area of the diaphragm.

Abstract: A method of monitoring a rotor of a motor vehicle having a caliper assembly driven by a motor for braking the vehicle includes detecting at least one harmonic response during a braking operation indicative of the interaction between the caliper assembly and the rotor. The at least one harmonic response is evaluated during the braking operation and an operator of the vehicle is notified of a condition of the rotor based on the evaluation.

Abstract: A method for determining at least one braking-behavior-relevant parameter relevant to the open-loop or closed-loop control of a braking system (210) of a rail vehicle (200). A physical model (PHYSM) is used in determining the at least one braking-behavior-relevant parameter, the physical model taking into account the influence of a wheel (10) which leads a wheel (20) to be braked (20), specifically with respect to an influence effect which the leading wheel (10) has on the traction between the trailing wheel (20) to be braked and the rail (30).

Abstract: A method for determining a torque acting at a position of a drive train of an agricultural towing vehicle, includes controlling a clutch of the drive train between a closed state and an open state, capturing a drive-side rotational speed at the clutch via a first rotational speed sensor, capturing an output-side rotational speed at the clutch via a second rotational speed sensor, controlling the clutch in the direction of the open state, determining, during controlling the clutch, a difference between the rotational speeds on the drive and output sides, comparing the difference with a predetermined difference limit value, capturing the value of a physical variable that causes the clutch control on the basis of the comparison result, and determining the torque on the basis of the captured value of the physical variable.

Abstract: A control arrangement and a method for shutting down a combustion engine of a powertrain of a vehicle are disclosed. The vehicle comprises an intake air throttle arranged in an intake pipe of the combustion engine, and at least one auxiliary brake selected from the group consisting of; an exhaust brake and an electrical machine configured to operate as a generator. The method comprises in response to a command for shutdown of the combustion engine, stopping fuel injection to the combustion engine; controlling the intake air throttle so as to reduce the air intake to the combustion engine; and activating the at least one auxiliary brake so as to brake the combustion engine, if not already activated.

Abstract: A control device, for a hybrid vehicle including an engine, a torque converter, a transmission, a motor, a mechanical oil pump, and a starter, includes a traveling mode determination unit, an acquisition unit, a vehicle speed determination unit, and a control unit.

Abstract: Hybrid vehicles and control methods for hybrid vehicles. The vehicles and methods are adapted for use with restricted emissions zones, including zero emission zones. The battery state of charge for a hybrid vehicle is controlled to enable passage through a zero emissions zone without the use of the engine in the zero emissions zone. Multiple approaches to the analysis are highlighted.

Abstract: Proposed is a trailer anti-sway system including a front camera, a front and side radar, a tow truck IMU, a hinge angle sensor configured to measure a hinge angle between the tow truck and a trailer, a rear camera configured to photograph a rear side of the trailer, a rear and side radar configured to monitor the rear and side of the trailer, a trailer IMU mounted to the trailer, and a controller configured to receive a signal of at least one of the front camera, the front and side radar, the tow truck IMU, the hinge angle sensor, the rear camera, the rear and side radar, the trailer IMU, predict the possibility of the sway occurrence to warn a driver of the possibility of the sway occurrence, and perform stability control for the tow truck and the trailer by stages according to a predetermined reference condition.

Abstract: A method performed by an electronic device is described. The method includes obtaining sensor data corresponding to multiple occupants from an interior of a vehicle. The method also includes obtaining, by a processor, at least one occupant status for at least one of the occupants based on a first portion of the sensor data. The method further includes identifying, by the processor, at least one vehicle operation in response to the at least one occupant status. The method additionally includes determining, by the processor, based at least on a second portion of the sensor data, whether to perform the at least one vehicle operation. The method also includes performing the at least one vehicle operation in a case that it is determined to perform the at least one vehicle operation.

Abstract: There is provided a vehicle-traveling control system that can appropriately avoid a collision. A vehicle-traveling control system acquires positional and speed information on an own vehicle, positional and speed information on neighboring vehicles, determines a subject vehicle that travels toward the own vehicle and may collide with the own vehicle, sets a collision assumption position where the own vehicle may collide with the subject vehicle, and continuously generates an imaginary vehicle that reaches the collision assumption position when the subject vehicle reaches there, and issues a command for controlling a distance between the own vehicle and the imaginary vehicle.

Abstract: An apparatus (106) and a method for checking the safety of a predetermined trajectory (104) of a vehicle (102), wherein an object, (108), in particular an object or a road user, from objects (108, 110) detected in the vicinity of the vehicle (102) is selected. The trajectory (104) and information about a position and/or a movement of the object (108) is converted to a Frenet coordinate system. The Frenet coordinate system is checked to see whether an area of the trajectory (104) exists in which the object (108) and the vehicle (102) are commonly located on the trajectory (104), and wherein a collision is detected (404) if the area exists.

Abstract: A vehicular sensing system includes a sensor disposed at a vehicle and capturing sensor data. The vehicular sensing system, responsive to detecting an object present exterior of the vehicle, and based on a predicted path of travel of the equipped vehicle approaching the detected object, estimates a distance between the detected object and a lateral outermost part of the equipped vehicle at a side of the equipped vehicle that, as the equipped vehicle moves along the predicted path of travel and approaches the detected object, will be closest to the detected object. The vehicular sensing system determines that the distance between the lateral outermost part of the equipped vehicle and the detected object is less than a threshold distance.

Abstract: To provide a vehicle control apparatus which sets a target trajectory considered an obstacle which exists in a changing lane, and can improve safety and comfort of occupant. A vehicle control apparatus sets an entry prohibition area based on at least one of a movement prediction of an obstacle, and/or road information; calculates a target trajectory under a constraint of not entering into the entry prohibition area; and when calculating a target trajectory for changing lanes from a changing origin lane to a changing destination lane, changes the entry prohibition area, based on a position of an ego vehicle with respect to the changing origin lane or the changing destination lane.

Abstract: A control arrangement and a method for controlling vehicle speed of a vehicle using a cruise control system are provided. The vehicle comprises a power take-off connected to a powertrain of the vehicle. The method comprises a step of, in response to a determination that the power take-off is subjected to a load, predicting future braking torque resulting from the power take-off load. The method further comprises a step of determining a planned driving strategy for an upcoming road section taking into account the predicted future braking torque. The method further comprises controlling the powertrain in accordance with the planned driving strategy, thereby controlling vehicle speed of the vehicle.

Abstract: A vehicle control device according to one aspect of the present invention includes a storage device configured to store a program, and a processor that is connected to the storage device, in which the processor executes a program stored in the storage device, thereby detecting a road surface condition of a road surface on which a host vehicle is present, detecting a preceding vehicle that is present in front of the host vehicle and moves in the same direction as the host vehicle, deriving a spray distance of a sprayed object caused by the preceding vehicle when the preceding vehicle is detected and the road surface condition is a predetermined condition, and calculating a recommended inter-vehicle distance on the basis of the spray distance.

Abstract: The present disclosure relates to determining a following distance, between a vehicle and a vehicle travelling ahead. According to a first aspect, the disclosure relates to a method that comprises obtaining an amount of energy required to propel the vehicle along the upcoming road as a function of following distance to the vehicle travelling ahead and predicting, based on brake actuation performed by the vehicle during a previous time period, one or more driving disadvantages that will be caused by braking along an upcoming road as a function of the following distance. The method further comprises determining the following distance, based on the obtained amount and on the predicted driving disadvantages caused by braking along the upcoming road. The disclosure also relates to a corresponding control arrangement and computer program, and to a vehicle comprising the control arrangement.

Abstract: A processor 10 of a driving control device 100 that controls driving of a subject vehicle at a predetermined driving assistance level determines whether a transition request that requires transition of a driving assistance level from a first driving assistance level to a second driving assistance level higher than the first driving assistance level is input, and relaxes the transition condition for the transition of the driving assistance level from the first driving assistance level to the second driving assistance level when the transition request is input.

Abstract: The present disclosure discloses a method for controlling entry of a traveling vehicle into an intersection according to a shaded area setting at a non-traffic light intersection and an apparatus thereof, and the method is performed by an intersection traveling control apparatus and includes setting a traveling safety area of a traveling vehicle on a precision map pre-stored in the traveling vehicle, setting a shaded area on the precision map based on data acquired through a sensor mounted on the traveling vehicle, calculating object information moving in a dangerous shaded area and setting an internal area and a virtual stop line corresponding to the object information and the dangerous shaded area, transmitting a slow-down signal and a stop signal along the virtual stop line to the traveling vehicle, and transmitting a dangerous shaded area setting release signal to the traveling vehicle based on the internal area and the object information.

Abstract: The disclosure relates to a motor vehicle performing a lane change maneuver in an at least partially automated manner. A first safety distance of the motor vehicle in relation to a target object relevant to the lane change maneuver is ascertained based on transverse guidance data of a transverse guidance module of the motor vehicle. An activation state of a longitudinal guidance module of the motor vehicle is ascertained, which indicates that the longitudinal guidance module is activated. A control parameter is ascertained, which indicates that the longitudinal guidance module considers the target object for the longitudinal guidance maneuver. Only if the activation state and the control parameter are present, a second safety distance, which is different from the first safety distance, is ascertained. The lane change maneuver is performed by way of the transverse guidance module in compliance with the second safety distance to the target object.

Abstract: Techniques for collecting, synchronizing, and displaying various types of data relating to a road segment enable, via one or more local or remote processors, servers, transceivers, and/or sensors, (i) enhanced and contextualized analysis of vehicle events by way of synchronizing different data types, relating to a monitored road segment, collected via various different types of data sources; (ii) enhanced and contextualized analysis of filed insurance claims pertaining to a vehicle incident at a road segment; (iii) advantageous machine learning techniques for predicting a level of risk assumed for a given vehicle event or a given road segment; (iv) techniques for accounting for region-specific driver profiles when controlling autonomous vehicles; and/or (v) improved techniques for providing a GUI to display collected data in a meaningful and contextualized manner.

Abstract: A turning system applied to a vehicle steering system, includes a turning unit, one or more processors, and a memory. The vehicle steering system has a structure in which a power transmission path between the turning unit and the steering unit steered by a driver is cut off. The one or more processors are configured to execute a mode setting process of setting a control mode in which the turning unit is operated to a setting mode or a normal control mode. The setting mode is a mode that is settable in an in-factory step before the turning unit is shipped to market. The normal control mode is a mode that is settable after the in-factory step is gone through. The mode setting process includes exclusively setting the setting mode or the normal control mode.

Abstract: A system and method of this disclosure control an on/off state of a power take-off by monitoring the power demand of a fluid power circuit that includes the power take-off and a piece of equipment connected to the power take-off. The power demand may be indicated by a pressure or temperature of a fluid power circuit, by a motion of the equipment or its hand-held controller, or by an engine torque of an engine driving the power take-off. When the equipment transitions between an off state and an on state, the controller automatically engages the power take-off. When the equipment is in the on-state for a predetermined amount of time and the power demand is at or below a predetermined threshold during the predetermined amount of time—thereby indicating idle time or an inactive state of the equipment—the controller automatically disengages the power take-off.

Abstract: System, methods, and other embodiments described herein relate to indicating a vehicle virtual connection based on user confusion. In one embodiment, a system includes a processor and a memory storing machine-readable instructions that when executed by the processor, cause the processor to 1) monitor an environment surrounding a first vehicle that has a virtual connection to a second vehicle, 2) determine a confusion score for a user within the environment, the confusion score indicative of how confused the user is about the virtual connection, and 3) generate an indicium of the virtual connection based on the confusion score.

Abstract: A computer-implemented method for estimating a road layout according to a driving direction of a vehicle in a vehicle assistance system includes receiving a sensor signal. A first part of the sensor signal deviates from the road layout. A second part of the sensor signal corresponds to the road layout indicated by a shape of a road guard rail. The method includes removing one or more irregularities from the first part of the sensor signal with respect to the driving direction of the vehicle to obtain a modified sensor signal. The method includes obtaining the estimated road layout according to the modified sensor signal.

Abstract: The present disclosure provides a method for controlling center following of a traveling vehicle by applying a lane weight, and apparatus thereof. The method, which is performed by a lane recognition apparatus to control center following of a traveling vehicle by applying a lane weight, includes receiving image data including a lane during traveling of the traveling vehicle, recognizing left and right lanes in the image data, setting recognition weights for the left and right lanes based on a difference between left and right lane recognition values, calculating a central curvature and a central curvature change rate for center following of a traveling vehicle based on the left and right lane recognition weights, and transmitting a center following signal of a traveling vehicle based on the central curvature and the central curvature change rate.

Abstract: A vehicle control method includes: determining a target yaw rate of a vehicle when the vehicle meets a rear wheel turning control condition; acquiring a first yaw rate of the vehicle when a front wheel of the vehicle turns at a front-wheel maximum turning angle and a rear wheel of the vehicle turns at a rear-wheel maximum turning angle in a turning direction opposite to the front wheel, and a second yaw rate of the vehicle when the front wheel turns at the front-wheel maximum turning angle and the rear wheel does not turn; determining a magnitude relationship between the first yaw rate and the target yaw rate, and a magnitude relationship between the second yaw rate and the target yaw rate, respectively; and controlling the rear wheel of the vehicle according to whether the magnitude relationships meet a preset control condition.

Abstract: An information processing device for a vehicle includes one or more processors configured to execute acquiring vehicle driving force that is driving force of the vehicle, acquiring front-rear acceleration that is an actual measurement value of acceleration along a front-rear axis of the vehicle from an acceleration sensor mounted on the vehicle, acquiring a slope at each point of a road on which the vehicle travels, and estimating an estimation value of total weight of the vehicle, when the vehicle travels at the point where the slope is acquired, based on the vehicle driving force at the point, the front-rear acceleration at the point, and the slope at the point.

Abstract: Provided is a control apparatus that controls a data acquisition cycle of a sensor of a mobile device in a control system including the mobile device and a mobile device control apparatus that controls the mobile device by analyzing data periodically acquired by the sensor, the control apparatus including: acquisition means for acquiring a speed of the mobile device; and determination means for determining the data acquisition cycle to be set for the sensor, based on the speed and a maximum data acquisition cycle of the sensor to satisfy an allowable reaction distance in the mobile device.

Abstract: The disclosure relates to a method for controlling a driving function of a motor vehicle, comprising capturing a location of the motor vehicle, capturing an environment of the motor vehicle, ascertaining information relevant to the driving function in the environment of the motor vehicle, retrieving falsification information regarding the information relevant to the driving function from a data memory remote from the motor vehicle based on the location and controlling the driving function based on the falsification information.

Abstract: A vehicle-mounted control apparatus includes a first storage unit that stores a rule at a time when communication data is normal, a second storage unit that stores part of rules stored in the first storage unit, a monitoring unit that monitors whether or not communication data is normal, a reference-rule recording unit that records a rule that coincides with under-monitoring communication data and the number of coincidences therebetween, and a rule-updation unit that updates a rule stored in the second storage unit, based on a rule stored in the first storage unit and a record in the reference-rule recording unit.

Abstract: Systems and methods for monitoring a fleet of self-driving vehicles are disclosed. The system comprises one or more self-driving vehicles having at least one sensor for collecting current state information, a fleet-management system, and computer-readable media for storing reference data. The method comprises autonomously navigating a self-driving vehicle in an environment, collecting current state information using the vehicle's sensor, comparing the current state information with the reference data, identifying outlier data in the current state information, and generating an alert based on the outlier data. A notification based on the alert may be sent to one or more monitoring devices according to the type and severity of the outlier.

Abstract: A method uses a continuous integration approach for improving driver assistance systems. The method uses a test data set (11) with a time series of input data and output data of the driver assistance system and is formed during driving in a real traffic. A system-under-test is formed by a continuously changed overall software. A data-driven validation is carried out at predetermined time intervals. The method simultaneously matches (14) the output of a current software version with ground-truth data (13), which results in an assessment of a performance of the current software version and continues by forming a performance statistic on all differences and their performance score and evaluating the changes to the overall software.

Abstract: A computing system includes a sensor data input chiplet to obtain sensor data from a sensor system of a vehicle, and one or more workload processing chiplets executing workloads in a set of independent pipelines based on the sensor data.

Abstract: A vehicle providing various functions for a pregnant woman and a method of controlling the same, include controlling the vehicle for a pregnant woman may include setting a maximum manipulation amount for each of one or more pedals for a driver seat based on a driver input value or occupant posture information according to whether a driver input for the maximum manipulation amount is received, and correcting a pedal manipulation amount based on the maximum manipulation amount set for each pedal in a pregnant woman mode.

Abstract: A vehicle is a vehicle on which an ADK is mountable. The vehicle includes: a VP that controls the vehicle in accordance with an instruction from the ADK; and a VCIB that serves as an interface between the ADK and the VP. The VP outputs a brake pedal position signal in accordance with an amount of depression of a brake pedal by a driver, and outputs a brake pedal intervention signal, to the ADK through the VCIB. The brake pedal intervention signal indicates that the brake pedal is depressed, when the brake pedal position signal indicates that the amount of depression is larger than a threshold value, and indicates beyond autonomy deceleration of the vehicle, when a deceleration request in accordance with the amount of depression is higher than a system deceleration request.

Abstract: A vehicular cabin monitoring system includes a radar assembly disposed in a cabin of a vehicle and operable to capture radar data. The radar assembly includes at least one radar transmit antenna that is operable to transmit radar waves and at least one radar receive antenna that is operable to receive radar waves. The transmitted radar waves are transmitted at least to a hotspot zone in the cabin of the vehicle. A data processor is operable to process radar data captured by the radar assembly. The vehicular cabin monitoring system, via processing at the data processor of radar data captured by the radar assembly, determines presence within the hotspot zone of a body part of an occupant present in the cabin of the vehicle. At least in part responsive to determining presence within the hotspot zone of the body part of the occupant, a window of the vehicle is opened.

Abstract: A method for operating a driver assistance system for a vehicle includes capturing a video feed of an external environment of the vehicle, receiving coordinates and a navigational speed limit from a signal connection identifying a location of the vehicle, transmitting the video feed and the coordinates to an Electronic Control Unit of the vehicle, and extracting a detected speed limit from the video feed of the external environment of the vehicle. The method further includes comparing the detected speed limit to the navigational speed limit to create a fusion speed limit and notifying a user of the vehicle of the fusion speed limit.

Abstract: A computer-implemented method, a computer system and a computer program product display a projection of driving risk to a vehicle from activity in the surrounding area. The method includes acquiring a vehicle path from the vehicle. The method also includes capturing driving conditions from the surrounding area using a sensor and recognizing an object in the surrounding area that is transmitting relevant data. The method further includes identifying a high-risk object in the surrounding area by calculating a risk score for the object relative to the vehicle based on the vehicle path and intended movements of the object and classifying the object as the high-risk object when the risk score is above a risk threshold for the vehicle. Lastly, the method includes generating an augmented reality display of the surrounding area using an augmented reality device, wherein the augmented reality display of the surrounding area indicates the high-risk object.

Abstract: An embodiment driving information display apparatus includes a collection device configured to collect image information about surroundings of a vehicle including a side rear of the vehicle through cameras and to collect distance information about the surroundings of the vehicle through distance sensors, a determination device configured to identify objects included in the image information, to determine object information for each identified object based on the image information and the distance information, and to determine whether the object information satisfies a warning condition, and a display device installed inside the vehicle and configured to display at least a portion of the object information along with the image information and to output a warning notification in response to a determination that the object information satisfies the warning condition, wherein the at least the portion of the object information is displayed to correspond to the object in the image information.

Abstract: A vehicle reducing unease of a driver during driver assistance, provided with a display device configured to display a surrounding vehicle together with a host vehicle at a relative position calculated by an object recognition device, display a mark showing that a lane change is planned to be performed at a predetermined space for performing a lane change in a destination driving lane which is a destination for a lane change when an automatic lane change is planned to be performed, and make a position of the mark change in accordance with the relative position of the surrounding vehicle when there is a surrounding vehicle present having an effect on a lane change in the destination driving lane.

Abstract: A method for triggering capture of diverse driving data from captions is described. The method includes training a discriminator network to identify similarities between a received text description and a received scene description. The method also includes feeding a trained discriminator network with real scene information along with text/sentence descriptions to verify whether the real scene information matches the text/sentence description. The method further includes generating a dataset of diverse driving scenarios retrieved from a dataset of vehicle driving log data in response to a text/sentence query.

Abstract: The present disclosure provides a system for processing radar data. The system may comprise a vehicle located in an environment; a radar module associated with the vehicle; and an electronic processor configured to: receive, from the radar module, an incoming radar signal comprising digitized radar samples that include a first indication of objects in the environment; process the incoming radar signal through one or more signal processing algorithms to determine a raw radar spectrum; process the raw radar spectrum through a machine-learning computational model to determine a set of output predictions for the environment; determine a scene representation and a scene understanding based at least in part on the set of output predictions for the environment; and provide the scene representation and the scene understanding to an autonomous driving system.

Abstract: Machine learning models for controlling AV operations may be evaluated based on sliced data. A feature category critical for an environmental condition may be identified. The environmental condition is a condition in an environment where an AV performs an operation. A sub-dataset, which comprises sensor data capturing the environmental feature dataset, may be extracted from a dataset that comprises sensor data capturing the environment. The sub-dataset may be input into machine learning models that can classify the feature category. Performances of the machine learning models can be evaluated based on their outputs, which are generated based on the sub-dataset, and a ground-truth classification of the environmental feature. The output of each machine learning model comprises a classification of the environmental feature. A machine learning model may be selected based on the evaluated performances of the machine learning models and may be used to control driverless operations of AVs.

Abstract: Systems and methods for determining metrics for construction zone detection and evaluating the performance of construction zone detection. A construction zone can be manually labeled, and the human labels are converted to a format that can be input to a neural network. The neural network input represents polygons indicating the construction zone, as well as various construction zone objects. When an AV drives to the construction zone, the AV detects the construction zone objects and generates a predicted construction zone, including, for example, predicted edges. The predicted connectivity of the construction zone objects is evaluated to determine accuracy of the detected construction zone.

Abstract: A method of planning a path for a vehicle. The method includes receiving perception images of an area surrounding the vehicle with at least one sensor and detecting at least one perception task from the perception images with the at least one perception task identifying at least one neighboring vehicle. The method calculates a risk factor for the at least one neighboring vehicle by recognizing a behavior of the at least one neighboring vehicle from the perception images and plans the path for the vehicle based on the at least one perception task and the risk factor. The path is then executed for the vehicle.

Abstract: An example method for controlling a vehicle includes obtaining reference information relating to an operation parameter of the vehicle, the operation parameter describing mission waypoints of the vehicle at respective time points during which the vehicle is to traverse a path, the reference information including reference values of the operation parameter corresponding to the time points; obtaining context information of the vehicle that relates to a state of the vehicle during an operation of the vehicle at the respective time points or an environment enclosing the path; determining tolerable ranges of the operation parameter for the time points based on the reference information and the context information; obtaining penalty information relating to differences between respective tolerable ranges and corresponding values of a constraint at the time points; determining a control instruction based on the tolerable ranges and the penalty information; and operating the vehicle based on the control instruction.