Abstract: Systems and methods are provided for controlling power modes of a vehicle and for providing passive entry to the vehicle. A sleep command can be sent from a central controller to multiple domain controllers to enter a sleep state. When the sleep command is received by a first domain controller, a sleep state is entered. When the sleep command is received by a second domain controller, a stealth state is entered. While in the stealth state, the second domain controller periodically wakes up from a sleep state to monitor a condition. In response to detecting a first condition, the second domain controller returns to the sleep state. In response to detecting a second condition, the second domain controller sends a notification of the second condition to the central controller.

Abstract: Various vehicle systems are proposed for accessing and utilizing vehicle cargo spaces on vehicles equipped with a tailgate assembly. The vehicle systems may include deployable and/or rotatable stairgate systems, deployable step systems, etc. designed for the accessing the vehicle cargo spaces. The proposed systems may include various deployment mechanisms that enable the stairgate/step systems to slide, pivot, rotate, swing, and/or otherwise adjust for providing ease of access and increased flexibility when stepping up to access the vehicle cargo space.

Abstract: A vehicle roof having a support on the vehicle body shell, a roof module disposed on the support and having a roof skin, and a sensor system having at least one sensor module having at least one environment sensor for detecting a vehicle environment, the environment sensor being disposed in a lateral edge area of the roof module associated with a lateral roof edge and being covered by the roof skin, the roof skin having a sensor see-through area for the environment sensor, the sensor see-through area being oriented in the transverse roof direction and being situated higher than the associated roof edge or an adjacent area of the associated roof edge and/or being located above the associated roof edge.

Abstract: Roof racks for carrying items for a vehicle are disclosed herein. The roof rack may include a plurality of support members, two elongate members, and a plurality of braces on each elongate member. The elongate members may fit within the rain gutters of a vehicle. Each of the support members may comprise a first end portion and a second end portion. The first end portion of a support member may be configured to slip fit in a receiver on one of the two elongate members and the second end portion of the support member may be configured to slip fit in a receiver on the other of the two elongate members. Items may be secured to the roof rack with one or more straps.

Abstract: A first pivot shaft 2a and a second pivot shaft 2b linked with wiper arms; a driving part, rotationally driving the first pivot shaft; a linking part, linked with the second pivot shaft and the driving part, and rotationally driving the two pivot shafts synchronously; and a first holding member 12a and a second holding member 12b for fixing the respective pivot shafts to a vehicle body are provided. The second holding member 12b includes: a body part 20, rotatably supporting the second pivot shaft 2b; and three support parts 21, 22, 23, protruding from the body part 20. The first support part 22 and the third support part 23 in the three support parts 21, 22, 23 include fixed parts 30 fixed via bolts 105 and engagement pins 38 provided in the fixed parts 30 and engaged with the vehicle body.

Abstract: Systems and methods are provided for estimating atmospheric properties using a LIDAR sensor. A control system includes a LIDAR sensor configured to detect a distance to an object, and an intensity of light reflected by the object. A controller's a target selection module determines whether the object is a target for use in estimating the atmospheric properties. A data collection module collects values of the distance and the intensity as detected by the LIDAR sensor. The atmospheric properties are determined based on the values of the distance and the intensity. In response to the determined atmospheric properties, the actuator is operated to effect an action.

Abstract: In a wiper device for vehicles, overrun at inversion positions is suppressed while a wind load and a high load are dealt with. A wiper device includes: a wiper blade; a wiper arm to which the wiper blade is attached; and a motor for driving the wiper arm. A load generated in the motor when the wiper blade moves on a windshield is estimated and calculated based on a motor supply current amount and the like. When an outward load generated in the wiper motor exceeds a predetermined threshold value, a high load correction process is performed based on the outward load. When the outward load is less than or equal to the threshold value, a wind load correction process is performed based on a wind load calculated from a difference between the outward load and the return load.

Abstract: A windshield wiper connector is disclosed for connecting a variety of wiper arms with a wiper blade. The connector may include a pivotable cover. The connector may also include a pin passage for receiving a pin-type wiper arm as well as a gaps in the connector positioned around an elevated plateau for receiving a slot-type wiper arm.

Abstract: The heated vehicle accessory incorporates a vehicle and a control circuit. The control system mounts on the vehicle. The control system detects the accumulation of snow and ice on the vehicle. The control circuit draws electric energy from the vehicle. The control circuit converts the drawn electric energy into heat that is used to melt the accumulation of snow and ice from critical location on the vehicle.

Abstract: The disclosed technology includes systems and methods for a vehicle wash system. The disclosed technology includes a vehicle wash system comprising a tire shine assembly. The tire shine assembly can be configured to transition between an extended position and a retracted position. The vehicle wash system can further include a proximity sensor configured to detect a presence of a vehicle. The vehicle wash system can be configured to, in response to the proximity sensor detecting the presence of the vehicle, cause the tire shine assembly to transition to the extended position. In response to the proximity sensor not detecting the presence of the vehicle, the vehicle wash system can cause the tire shine assembly to transition to the retracted position.

Abstract: An axle assembly having a differential assembly, a drive pinion, and a differential brake. The differential assembly may be rotatable about a differential axis. The drive pinion may mesh with a ring gear of the differential assembly. The differential brake may be operable to apply a brake torque to inhibit rotation of the differential assembly.

Abstract: A system for releasing the heavy-haul train has a control valve mounted in each of train cars. The control valve is connected to a train pipe, an auxiliary air reservoir and a brake cylinder are connected to the control valve, and an exhaust port is configured on the control valve. The exhaust port is connected to a solenoid valve. The method for improving the release performance of the heavy-haul train includes: S1: the solenoid valve in each of the train cars is powered on to close a passage between the exhaust port of the control valve and the atmosphere; S2: an automatic brake valve is regulated to inflate the train pipe; and S3: the solenoid valve in each of the train cars is powered off to open the passage between the exhaust port of the control valve and the atmosphere, so that the train is released.

Abstract: A method is described for controlling pneumatic pressure by actuating a charge and a discharge valve that vary the pressure, comprising, providing a matrix wherein each cell indicates a time for opening the charge or discharge valve; if the initial pressure value in the volume is less than the target pressure value to be reached, opening the charge valve, decreasing the value of the opening time indicated in the selected cell if the pressure value in the volume exceeds the target pressure value and possibly increasing the value of the time indicated in the selected cell; if the initial pressure value in the volume is greater than the target pressure value, opening the one discharge valve for the time indicated in a selected cell and possibly increasing the time value indicated in the selected cell and possibly decreasing the time value indicated in the selected cell.

Abstract: A brake system includes two brake circuits having brake circuit lines for two vehicle axles and at least one hydraulic wheel brake in each brake circuit. Each wheel brake is connectable to a corresponding brake circuit or brake circuit line via a paired switch valve for pressure build-up and release in the wheel brake using a pressure supply device that can build up pressure in both brake circuits. At least one circuit separating valve blocks or releases a hydraulic connection line connecting the two brake circuits. At least one outlet valve connects an accumulator container to at least one brake circuit to release pressure. A master cylinder having only one working chamber is actuable by a brake pedal. The working chamber is connectable to the brake circuit line of a brake circuit. A switch valve is used to close or release the hydraulic line.

Abstract: An electromechanical brake pressure generator for a hydraulic braking system of a vehicle. The brake pressure generator has a spindle drive unit for converting an input-drive-side rotational motion into a translational motion for piston actuation of a hydraulic piston/cylinder unit. A multi-stage gear linkage is disposed between the spindle drive unit and an electric drive motor. The gear linkage encompasses a planetary gearset unit driven by a motor pinion constituting a sun gear, the output-drive-side ring gear of which unit drives the spindle drive unit. A motor shaft of the electric drive motor extends in adjacently parallel fashion next to a spindle drive shaft of the spindle drive unit.

Abstract: Disclosed is an electronic parking brake system including an electronic parking brake provided to provide a clamping force necessary for parking a vehicle by a motor, a warning unit provided to warn a failure of the electronic parking brake, a current sensor provided to detect a current of the motor, and a controller electrically connected to the current sensor, wherein the controller determines whether a clamping force is generated depending on the motor current in a parking operation, counts a clamping force non-generation time when the clamping force is not generated, and warns a suspected failure of the electronic parking brake through the warning unit when the clamping force non-generation time elapses a preliminary failure detection time set shorter than a failure detection time of the electronic parking brake.

Abstract: A braking control apparatus includes a contact determiner and a collision brake processor. The contact determiner is configured to determine whether a collision determination on a contact of a vehicle is satisfied. The collision brake processor is configured to cause a brake device of the vehicle to generate a braking force to achieve a predetermined deceleration rate of the vehicle if the contact determination is satisfied. The collision brake processor is configured to, upon determining that the brake device is in a predetermined pre-contact braking state immediately before the contact determination is satisfied, set a deceleration rate of the vehicle after the contact determination is satisfied to a value larger than in a case where the collision brake processor does not determine that the brake device is in the predetermined pre-contact braking state.

Abstract: A brake control system 200 and method 300 for controlling a park brake of an aircraft including a controller 201 configured to cause an increase in a brake torque of the park brake based of an indication to the controller. The indication is generated in response to touchdown of the aircraft.

Abstract: A brake device to be applied to a vehicle includes a housing, a piston, and a seal member. The housing has a first end that is closed. The housing includes a supply port configured to communicate with a reservoir tank. The piston has an outer peripheral surface, an inner peripheral surface and a through-hole extending from the outer peripheral surface to the inner peripheral surface. The piston is configured to generate a hydraulic pressure in a hydraulic chamber in the housing by moving toward a side of the first end inside the housing. The seal member is provided around the piston in a circumferential direction on the side of the first end with respect to the through-hole. The seal member is configured to seal between an inner peripheral surface of the housing and the outer peripheral surface of the piston.

Abstract: A method for operating a brake system of a vehicle, in particular, of a motor vehicle. The brake system includes at least one electric actuator, in particular, a brake booster, which may be driven to generate a braking force, the actuator being controllable by an autonomous driving system, and as a function of manipulation of a brake pedal of the vehicle; and an emergency braking action being initiated, when the actuator is driven both by the autonomous driving system and by manipulation of a brake pedal. The control by the autonomous driving system is superimposed with a varying validation signal, a differential travel between an actuator element of the actuator and the brake pedal is monitored, and the driving of the actuator via manipulation of the brake pedal during the control by the autonomous driving system is detected, if the differential travel varies.

Abstract: A method for operating an automatic transmission of a hybrid vehicle which has an electric traction machine and an internal combustion engine. A drag torque is provided at the electric traction machine. On the basis of a maximally available electric power for driving the electric traction machine, a characteristic map having respective curves for respective gears of the automatic transmission of the hybrid vehicle is created. The characteristic map is adjusted according to the drag torque to be provided by each curve being reduced by the drag torque to be provided. A shifting logic is specified in which respective shifting points for shifting the automatic transmission are defined at intersections of the curves of adjacent gears of the adjusted characteristic map, wherein the automatic transmission is shifted on the basis of the shifting logic in the respective shifting points.

Abstract: An apparatus for selectively sharing, towards separate users, the power of a multi-drive unit vehicle, includes a mechanical transmission, that connects propulsion units of the vehicle to at least one primary drive unit; a secondary power unit for service units, which is operatively positioned between the mechanical transmission and at least one service unit of the vehicle; as well as at least one of either a first or a second joint, that are mounted on the mechanical transmission on either side of the secondary power unit for service units and are switchable by operating suitable control means.

Abstract: A method of controlling driving of a hybrid electric vehicle having an engine connected to main drive wheels via a transmission and a motor connected to auxiliary drive wheels includes setting a drive mode, controlling an input torque of the transmission in response to an extent of depression of an accelerator pedal (APS) according to the drive mode, performing distribution of drive power to the main drive wheels and the auxiliary drive wheels and variable shift-pattern control based on a result of a comparison between an amount of slip of the main drive wheels and the amount of slip of the auxiliary drive wheels, and determining whether to perform variable shift-time control in consideration of a type of the variable shift-pattern control or a number of revolutions per minute (RPM) of the engine at beginning of a shift.

Abstract: Systems and methods for operating a hybrid vehicle having an internal combustion engine are presented. In one example, the internal combustion engine is operated in a speed control mode and torque of an electric machine is adjusted so that a possibility of an engine speed controller saturating may be reduced.

Abstract: A control device executes: controlling a voltage in a d-axis direction and a voltage in a q-axis direction applied to a rotating electric machine driven by an electric power supplied from an inverter, to which a magnetic pole position detector for detecting a magnetic pole position of the rotor is attached, and which includes a stator for generating a magnetic field using a winding; acquiring q-axis current data indicating a component in the q-axis direction of a current flowing through the rotating electric machine when a component in the d-axis direction of the voltage applied to the rotating electric machine is equal to or less than a predetermined voltage; and determining, based on the q-axis current data, a correction amount of the magnetic pole position satisfying a condition that a current indicated by the q-axis current data is equal to or less than a predetermined current and correcting the magnetic pole position based on the correction amount.

Abstract: A park electronic securement (e-securement) system for a battery electric vehicle (BEV) includes an electric vehicle control unit (EVCU) connected to a park pawl system of the BEV and configured to, when there is at least one of a plurality of malfunctions of an electrical system including a high voltage battery, a DC-DC converter, and a low voltage battery, receive power from a redundant power source voltage provided by the high voltage battery via the DC-DC converter and command either the park pawl system or an electric park brake to transition the BEV to a park state and, when there are none of the plurality of malfunctions of the electrical system, receive power from the low voltage battery for control of the park pawl system to transition the BEV to the park state when requested.

Abstract: A vehicle includes an engine, an electric machine, a disconnect clutch, a starter motor, and a controller. The engine and electric machine are each configured to generate power to propel the vehicle. The disconnect clutch is disposed between the engine and the electric machine. The controller is programmed to, in response to a command to start the engine, operate either the disconnect clutch or the starter motor to start the engine based on a level of adaptive learning of previous disconnect clutch engagements.

Abstract: A method includes calculating, at a data processing hardware, a relative angle between a tow vehicle and a trailer attached to the tow vehicle. An absolute angle of the tow vehicle is determined at the data processing hardware. An absolute angle of the trailer based on the relative angle and the absolute angle of the tow vehicle is calculated at the data processing hardware. A dimension of the trailer is determined at the data processing hardware. A trailer leveling adjustment based on the absolute angle of the trailer and the dimension of the trailer is calculated at the data processing hardware.

Abstract: A soil measure, such as a soil cone index, and a vehicle index indicating the amount of force the vehicle exerts on the ground as it travels over the ground, are obtained and compared to identify a soil damage score. The soil damage score can be mapped over a field and an agricultural vehicle can be controlled based upon the soil damage score. In another example, a detector detects a fill level of a material storage compartment on an agricultural vehicle. The inflation pressure of tires on the agricultural vehicle is controlled based upon the detected fill level.

Abstract: A method of providing automated application of turn radius reduction in a driver assist mode may include receiving steering wheel angle and wheel speed information to determine a target wheel slip during a turn. The method may further include comparing the target wheel slip to a current wheel slip to determine a slip error, and applying braking torque to an inside wheel based on the slip error to reduce the turn radius.

Abstract: A parking system including a plurality of automated guided vehicles (AGVs), a bay, and a controller. The controller is configured to send instruction to an AGV to move into the bay to receive a target vehicle in response to receiving a parking reservation from a user device, send instruction to the AGV to navigate the target vehicle to a target parking space, and send instruction to at least a subset of the AGVs to rearrange the target vehicle based on a pick up time indicated in the parking reservation.

Abstract: A parking assistance method according to the present disclosure is a method of performing autonomous travel of a vehicle based on a travel route generated using teaching travel by a driver. The parking assistance method including: acquiring as absolute position and an azimuth is the a travel direction of the vehicle; and determining, based on the absolute position and the azimuth in the travel direction, whether or not the vehicle is located oriented with a prescribed azimuth in a prescribed position, which are registered in association with the travel route.

Abstract: An apparatus for forward collision avoidance assist-junction turning of a vehicle includes a sensor for acquiring at least one of a steering angle, a steering angle speed, or a yaw rate of a vehicle, or a size, a position, or a speed of an opposite target. A traveling path area for a left-turn or a right-turn is calculated by a controller based on the steering angle or the yaw rate of the vehicle. The traveling path area is then corrected by the controller based on at least a portion of the steering angle, the steering angle speed, or the yaw rate of the vehicle, or the size, the position, and the speed of the opposite target. A warning against the collision between the vehicle and the opposite target and a control operation to prevent the collision are performed based on the corrected traveling path area.

Abstract: A system for detecting a road surface includes a processor and a memory. The memory stores instructions executable by the processor to determine a virtual boundary for a vehicle body based on a shape of the vehicle body, to identify one or more objects based on vehicle sensor data, based on the identified one or more objects, the determined virtual boundary, and an input to at least one of propulsion, steering, or braking, to determine at least one of a braking override or a steering override, and based on the determination, to perform at least one of adjusting a vehicle steering and a vehicle speed.

Abstract: A moving track prediction method includes obtaining an initial state, of a moving target that includes an initial location and an initial motion state, generating one or more destination states of the moving target based on the initial state of the moving target and preset path information, and predicting a moving track of the moving target based on the initial state of the moving target and the one or more destination states to obtain one or more predicted moving tracks.

Abstract: Provided are systems and methods for controlling a vehicle based on a map that designed using a factor graph. Because the map is designed using a factor graph, positions of the road can be modified in real-time while operating the vehicle. In one example, the method may include storing a map which is associated with a factor graph of variable nodes representing a plurality of constraints that define positions of lane lines in a road and factor nodes between the variable nodes on the factor graph which define positioning constraints amongst the variable nodes, receiving an indication from the road using a sensor of a vehicle, updating positions of the variable nodes based on the indication and an estimated location of the vehicle within the map, and issue commands capable of controlling a steering operation of the vehicle based on the updated positions of the factor nodes.

Abstract: A system and method of inducing and controlling coasting of a vehicle are able to prevent unnecessary acceleration and deceleration, improve fuel efficiency, and prevent a safety accident of a driver and pedestrians by dividing a preset distance from a vehicle to a signal lamp into four or more sections on the basis of road signal information, etc., and by performing deceleration induction, deceleration control, acceleration induction, coasting induction, creep torque control in coasting, etc. for sections, respectively, based on information of a vehicle speed, a signal lamp, etc.

Abstract: A vehicle control apparatus in a vehicle that includes left wheels, right wheels and brake mechanisms each provided for both. The apparatus includes one or more processors and one or more storage media storing a program causing a brake control process in which brake fluid pressure is applied to the brake mechanisms of one-side wheels, either left or right wheels, to bring the one-side wheels to a locked state under the condition including that the vehicle is in a stopped state or in a substantially stopped state through driver emergency control that is to be applied to the vehicle in response to detection of emergency of a driver who drives the vehicle.

Abstract: This disclosure relates to an electrified vehicle configured to selectively increase an energy recovery threshold and a corresponding method. In particular, an example electrified vehicle includes an energy recovery mechanism configured to apply a negative wheel torque up to a negative wheel torque threshold. The electrified vehicle also includes a controller configured to selectively increase the negative wheel torque threshold based on a mass of the electrified vehicle.

Abstract: A braking control apparatus includes a braking force control unit, a first abnormality detecting unit, a regenerative brake stopping unit, and a braking force compensating unit. The braking force control unit is configured to perform a braking force control by causing an engine brake, a regenerative brake, and a friction brake to operate in cooperation with each other. The regenerative brake stopping unit is configured to disconnect the regenerative brake from the braking force control, when an abnormality of the regenerative brake is detected by the first abnormality detecting unit. The braking force compensating unit is configured to perform a braking force compensation that utilizes the friction brake, from the detection of the abnormality of the regenerative brake until the regenerative brake is disconnected from the braking force control, by performing a feedback control on a deceleration rate at a time when the abnormality of the regenerative brake is detected.

Abstract: A method of controlling regenerative braking of a hybrid vehicle is provided. The method includes controlling, by a controller, a hybrid vehicle to start a braking operation in response to a brake pedal operation signal, and, after the braking operation of the hybrid vehicle is started, controlling, by the controller, a second motor that is connected to an output shaft of a transmission of the hybrid vehicle to perform regenerative braking.

Abstract: The invention relates to a method for carrying out a driving maneuver for creating a gap in the traffic flow, which is multiple lanes wide, involving a first vehicle and a plurality of second vehicles. The first vehicle, which requests the gap in the traffic flow periodically sends corresponding request signals at least to a plurality of second vehicles. The second vehicles that intend to comply with the request send out corresponding signaling signals. As soon as a sufficient minimum number of second vehicles that intend to comply with the request can be determined, the second vehicles participating in the driving maneuver for creating the gap in the traffic flow are informed. The second vehicles participating in the driving maneuver agree on the beginning of the driving maneuver and mutually coordinate their trajectories. One of the second vehicles is designated as the maneuver leader and transmits at least one characteristic of the gap in the traffic flow to the first vehicle.

Abstract: A vehicle control device has a processor configured to generate a first traveling lane plan representing the traveling lane in which the vehicle is traveling within a first driving zone of a navigation route, to generate a first lane change plan representing movement of the vehicle between lanes, based on the first traveling lane plan or on surrounding environment information and, when the first lane change plan has been generated, to determine whether or not there exists a control transfer request zone at less than a first reference distance from the location of the vehicle on the post-movement traffic lane, or a lane change schedule zone at less than a second reference distance, and the first lane change plan is cancelled when such a control transfer request zone or lane change schedule zone exists.

Abstract: Aspects of the present invention relate to control system (100) for controlling a transition of a vehicle between a first driving mode and a second driving mode. The control system comprises one or more controllers, configured to: receive (302) a first request signal indicative of an occupant-initiated preparatory request; receive (303) a second request signal indicative of an occupant-initiated transition request; determine (304) a first control signal for controlling output of information to an occupant of the vehicle indicative of the driving environment in dependence on receipt of the first request signal; determine (308) a second control signal for causing transition of the vehicle from the first driving mode to the second driving mode in dependence on receipt of both the first request signal and the second request signal; and output (306, 310) the first or second control signal to a vehicle system.

Abstract: A mobile machine control method includes receiving, by a single controller, a first request for movement of the machine by a ground-engaging device, receiving, by the single controller, a second request for movement of an implement system of the machine, and determining, with the single controller, an amount of desired power from an engine to satisfy the first request and the second request. The method also includes selecting an engine speed from a plurality of candidate engine speeds to produce the desired power and operating the engine at the selected engine speed to produce the desired power.

Abstract: The vehicle includes a drive source, a transmission that shifts power from the drive source and transmits the power to the drive wheels, and a control device that controls the drive source and the transmission. The control device executes a downshift delay process of changing the timing of the downshift of the transmission to the low vehicle speed side as compared with the case where the predetermined condition is not satisfied when the predetermined condition is not satisfied, when the subject vehicle is in the following mode that follows the forward vehicle, the overtaking with respect to the forward vehicle is restricted, and the predetermined condition of the accelerator off and the brake off is satisfied.

Abstract: Inaccurate sensor data, such as by caused by reflections, may skew ground profile estimations that identify a profile or plane associated with a surface, such as a roadway. Correcting a ground profile that was based on inaccurate sensor data may include determining a location at which a slope of the ground profile meets or exceeds a maximum slope, determining a line associated with the location and having a slope of a magnitude equal to the maximum slope, and using the line to determine a subset of sensor data points that lies outside a region defined by the line. The subset of sensor data points that lies outside the region may be excluded from the set of sensor data points used to generate ground profile(s) and a new ground profile may be determined using the set of sensor data points, less the subset of sensor data points.

Abstract: Implementations described herein relate to generating candidate suggestion(s) that are personalized to a given user locally at an in-vehicle computing device of a vehicle of the given user. For example, implementations can identify an occurrence of a given suggestion state, generate the candidate suggestion(s) that are personalized to the user for the given suggestion state, store the candidate suggestion(s) in on-device storage of the in-vehicle computing device in association with the given suggestion state, and cause a given one of the candidate suggestion(s) to be provided for presentation to the given user. Accordingly, upon a subsequent occurrence of the given suggestion state, implementations can obtain the candidate suggestion(s) stored in association with the given suggestion state, and cause the given one of the candidate suggestion(s), or an additional one of the candidate suggestion(s), to be provided for presentation to the given user.

Abstract: The disclosure relates to a method for evaluating a driving behavior, wherein detected driving data of at least one human driver, or detected driving data of at least one automated driving vehicle are obtained, wherein a key performance indicator is determined based on the obtained driving data, wherein both a travel time as well as an energy efficiency and/or emissions efficiency are taken into account in determining the key performance indicator, wherein the determined key performance indicator is provided as an evaluation result.

Abstract: An apparatus includes processing circuitry configured to determine an actual driving performance of a driver in a manual driving mode and a projected driving performance if the vehicle had been operated in an autonomous driving mode, compare the driving performance in the manual driving mode and the autonomous driving mode, and transmit a feedback to the driver based on the comparison. The processing circuitry can be further configured to determine a driver state of the driver in the manual driving mode, determine environmental driving condition of the vehicle, and establish a baseline behavior of the driver as a function of the driver state and the environmental driving condition.