Abstract: Operational data generated and used in a vehicle to control various vehicular systems is temporarily stored in a data buffer in the vehicle. A processor in the vehicle is configured to detect anomalous conditions, which can be based on predefined fault codes or user defined conditions (based on a single parameter or a combination of parameters). Whenever such an anomaly is detected, a diagnostic log is conveyed from the vehicle to a remote location. Such a log will include the detected anomaly, and buffered operational data. In at least one embodiment, the diagnostic log includes buffered operational data collected both before and after the anomaly. The diagnostic log is analyzed at the remote location to diagnose the cause of the anomalous condition so a decision can be made as to whether the vehicle requires immediate repair, or whether the repair can be scheduled at a later time.

Abstract: An information processing apparatus disclosed is provided on a vehicle. The information processing apparatus has a controller configured to execute the processing of obtaining a trajectory record defined as a record of the trajectory along which the vehicle has travelled, detecting an abnormal behavior of the vehicle, generating record information, which is information representing a trajectory record prior to the detection of the abnormal behavior of the vehicle among the obtained trajectory records, and transmitting the record information to other vehicles.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for identifying high-priority agents in the vicinity of a vehicle. The high-priority agents can be identified based on a set of mutual importance scores in which each mutual importance score indicates an estimated mutual relevance between the vehicle and a different agent from a set of agents on planning decisions of the other. The mutual importance scores can be calculated based on importance scores assessed from the perspectives of both the vehicle and the agents.

Abstract: A gearbox arrangement of an electric machine of an engine includes a planetary gear arrangement configured to receive rotational input from the electric machine and from the engine and to mechanically couple the electric machine and the engine in first and second power flow directions, the planetary gear set comprising a ring gear, a ring brake, a free-wheel clutch attachable to a fixed structure and the ring brake, the free-wheel clutch permitting rotation of the ring brake in a first direction and preventing rotation of the ring brake in an opposite second direction, and an arrangement for moving the ring gear between a first position in which the ring gear is non-rotatably engaged with the ring brake and a second position in which the ring gear is non-rotatably engaged with the carrier. An engine starter and power generator device Is also provided.

Abstract: Provided is an apparatus for assisting driving of a host vehicle, the apparatus comprising: a first sensor mounted to a host vehicle and having a field of view in front of the host vehicle, the first sensor configured to acquire front image data; a second sensor selected from a group consisting of a radar sensor and a Light Detection and Ranging (LiDAR) sensor and mounted to the host vehicle, the second sensor configured to have a field of sensing in front of the host vehicle and acquire front sensing data; a third sensor selected from a group consisting of a radar sensor and a LiDAR sensor and mounted to the host vehicle, the third sensor configured to have a field of sensing behind the vehicle and acquire rear side sensing data; and a controller including a processor configured to process the front side sensing data and the rear side sensing data; wherein the controller is configured to: in response to a lane change command being input, acquire position information and velocity information of other vehicle

Abstract: A head-up display system includes a first projection module that projects a first image to display the first image in a forward direction not directly facing a user, a second projection module that projects a second image to display the second image in a forward direction directly facing the user, and a reflective optical element that reflects at least a part of the first image and at least a part of the second image.

Abstract: The present disclosure provides an on-board storage system in which the time required for initializing a storage device is substantially shortened by devising a backend start timing. The on-board storage system includes: a storage device that has a controller, a NAND flash memory, and an interface; an electronic control unit that electronically controls a vehicle; and a sensor. The electronic control unit communicates with the storage device through the interface, the sensor transmits a detection result of the sensor to the electronic control unit, and the electronic control unit transmits a command to start initialization of the NAND flash memory to the controller when the transmitted detection result of the sensor indicates a driving-start preliminary operation.

Abstract: The present disclosure relates to an autonomous vehicle control system (100) for providing motion control of an autonomous vehicle (200), comprising: —a primary control unit (10) configured to perform longitudinal and lateral motion control of the vehicle during normal operation, —a secondary back-up control unit (20) configured to perform back-up longitudinal motion control when an emergency mode has been enabled, wherein the primary control unit is further configured to perform back-up lateral motion control when the emergency mode has been enabled. The invention further relates to a method for providing motion control of an autonomous vehicle and to an autonomous vehicle.

Abstract: A first risk potential field for a risk avoidance control is a sum of a risk potential field in which a valley of a risk value extends in a lane longitudinal direction and a risk potential field in which the risk value is maximum at a position of an object and decreases as a distance from the object increases. The steering control is executed such that a vehicle approaches a first minimum point that is a minimum point of the first risk potential field and that is searched for in a first search range. When a plurality of first minimum point candidates is present in the first search range, the first minimum point candidate that is present in a direction away from a foremost object as viewed from a previous minimum point and is the closest to the previous minimum point is selected as the current first minimum point.

Abstract: A latch circuit device includes: a latch circuit configured to latch an input signal to a microcomputer; a detection circuit configured to detect that the input signal is input to the latch circuit during a sleep period in which the microcomputer is in a sleep state; a wake-up circuit configured to transmit a wake-up signal to the microcomputer when an input of the input signal is detected during the sleep period; a sampling circuit configured to read the input signal from the latch circuit; a transmission circuit configured to transmit the input signal read by the sampling circuit to the microcomputer returned from the sleep state based on the wake-up signal; and a release circuit configured to release a latch state of the latch circuit after the input signal is read.

Abstract: A flight recorder system of an aircraft includes a resource controller module (RCM) communicatively coupled, via a switch fabric, to a set of flight recorder system modules (FRM). Each FRM comprises a respective control module, a respective local memory, and a respective set of input and output (I/O) ports communicatively coupled to the switch fabric. The RCM is configured to detect a respective FRM coupled to the switch fabric, and based on the detection, configure an operation of the FRM, and wherein the respective local memory of the FRM is readable by the RCM, and shareable with the other FRMs via the switch fabric.

Abstract: There is provided a route guidance apparatus including a route search unit which searches for at least one route, to a predetermined destination, which is to be traveled by an electric vehicle propelled by electric power stored in a secondary battery provided within the vehicle, and a power consumption calculation unit which calculates power consumption of the electric vehicle when a route to a destination, which was searched for by the route search unit, is traveled by the electric vehicle, based on information on electric power to be consumed when the electric vehicle travels and geographical information relating to the route.

Abstract: A system for obtaining a prediction an action (at) of a vehicle (V), including a camera for acquiring a sequence of images (Ft) a convolutional neural network visual encoder which obtains a corresponding visual features vector (vt), one or more sensor that obtains a position of the vehicle (st) at the same time step (st), a Recurrent Neural Network configured to receive the visual features vector (vt) and position of the vehicle (st) at the time step (t) and to generate a prediction of the action (at) of the vehicle (V). The system comprising a command conditioned switch configured upon reception of a control command (ci) to select a corresponding branch of the Recurrent Neural Network. The system is configured to operate the selected corresponding branch to process the visual features vector (vt) and position of the vehicle (st) at the time step (t) to obtain the prediction of the action (at) of the vehicle (V).

Abstract: A system for predicting injuries includes a plurality of sensors configured to generate sensor data and an apparatus having an input-output interface and a processor coupled to the input-output interface and wherein the processor is coupled to a memory, the memory having stored thereon executable instructions that when executed by the processor cause the processor to effectuate operations including receiving the sensor data, applying analytics to the sensor data, based on the applying step, predicting a likely injury, and transmitting a report based on the predicting step.

Abstract: The disclosure is generally directed to systems and methods for a mobile device including transmitting a request by the mobile device for a route that considers transportation modalities and route conditions, the request including location data of the mobile device, receiving a recommended route, the recommended route based on low energy hardware based classification of conditions associated with a plurality of available routes, and receiving a recommended transport modality vehicle and a list of known vehicle identifiers associated with the location data. Low energy wireless signals are received by the mobile device with low energy hardware based classifiers from a mobility vehicle including dedicated hardware including a being a field programmable gate array (FPGA) or an application specific integrated circuit (ASIC) and/or hardware supporting a spiking neural network (SNN), the hardware receiving camera and microphone inputs.

Abstract: Provided is a display method, which is executed by a display device capable of forming an image in both of an inside of a lens area and an outside of the lens area and enabling a user to visually recognize the image, the display method including displaying, by the display device, one or more objects from a predetermined area inside the lens area toward the outside of the lens area so that an object near the predetermined area is displayed in a different display mode relating to at least one of a density, a color strength, a luminance, and a size compared to an object away from the predetermined area.

Abstract: In a vehicle control device, a vehicle control method, and a vehicle control system according to the present invention, in control of a motion of a vehicle which is based on a signal relating to a target trajectory and a signal relating to a traveling state, a target traveling state of the vehicle after a predetermined time period corresponding to a delay element in the control of the motion of the vehicle is predicted, and a command for achieving the predicted target traveling state is output to an actuator configured to control the motion of the vehicle, thereby suppressing occurrence of a deviation of a traveling trajectory from the target trajectory and occurrence of an unstable behavior, for example, meandering, due to the delay element in a vehicle motion control system which is based on the target trajectory.

Abstract: A head-up display includes a display panel, a reflective optical element, a controller, and an obtainer. The display panel displays a first image. The reflective optical element reflects image light from the first image displayed by the display panel. The controller controls a position at which the first image is displayed on the display panel. The obtainer obtains, as positional information, a position of an eye of a user. The controller changes the position at which the first image is displayed on the display panel in accordance with the positional information.

Abstract: A surrounding moving object detector includes a vehicle traveling information acquiring unit, a contact detection unit, a surrounding object information acquiring unit, a traveling course prediction processor, a contact possibility calculation processor, and a determination threshold changing processor. The traveling course prediction processor predicts a future traveling course of an vehicle based on vehicle traveling information acquired by the vehicle traveling information acquiring unit and predicts a future traveling course of a moving object present around the vehicle based on the surrounding object information acquired by the surrounding object information acquiring unit. The contact possibility calculation processor calculates a possibility of contact by comparing the future traveling course of the vehicle and the future traveling course of the moving object. The determination threshold changing processor changes a determination threshold based on the possibility of contact.

Abstract: Embodiments of a device that includes an automotive-specific connector are described herein. The device includes radiofrequency (RF) communication circuitry communicatively coupled to processing circuitry and configured to receive a broadcast digital television signal. The processing circuitry configured to receive a user selection of broadcast digital television content to be obtained. The RF communication circuitry controlled to select a frequency band corresponding to the broadcast digital television content from the broadcast digital television signal. Encoded broadcast digital content is received from the RF communication circuitry and a digital bitstream is decoded to obtain the selected broadcast digital television content therein.

Abstract: The present disclosure relates to a steering control device and a steering assist system including same. Particularly, a steering control device according to the present disclosure comprises an input-side steering control device which includes: a first controller connected to an output-side steering control device via at least one first communication bus; and a second controller connected to the output-side steering control device via at least one second communication bus and connected to the first controller via at least one third communication bus.

Abstract: A system for generating virtual lane markers of an intersection so that the virtual lane markers are visible to an operator of a vehicle at the intersection. The system includes a remote station having a transceiver, a remote memory module configured to store map data and baseline static paths of vehicles moving through the intersection, and a remote control module configured to broadcast via the transceiver a map message indicating the baseline static paths. A vehicle transceiver is configured to receive the map message. A vehicle control module is configured to generate virtual lane markers through the intersection based on the baseline static paths included with the received map message.

Abstract: A driving assistance device includes first acquisition means for acquiring driving status sensing data of a vehicle from a driving status sensing device provided in the vehicle, second acquisition means for acquiring biological information regarding a biological change of a driver of the vehicle, and determination means for determining occurrence of a dangerous event on the basis of a first occurrence index value for a dangerous event that is a value corresponding to the driving status sensing data and a second occurrence index value that is a value corresponding to the biological information of the driver.

Abstract: An updating system includes a plurality of electronic control units and an updating management device. The updating management device is configured to request that the electronic control units respectively update programs and store update results of the programs transmitted from the electronic control units. The electronic control unit has a first storage region and a second storage region, and is configured to store an updated program in the second storage region and notify the updating management device of the update results according to a request from the updating management device, and is configured to start a predetermined control using the updated program stored in the second storage region when the update results stored in the updating management device indicate that the updating of the programs in the electronic control units is completed.

Abstract: A braking control device for controlling braking of a host vehicle. For a state in which a host vehicle is stopped in an intersection by automatic emergency braking and an oncoming vehicle is approaching in an oncoming lane, the host vehicle prohibits secondary braking is prohibited in, flashes a hazard lamp, and prohibits an idling stop. For a state in which it is determined in that the vehicle is stopped and it is determined in that it is safe for the vehicle to start moving, the host vehicle releases stop maintenance braking.

Abstract: A lane following assist apparatus and a control method thereof are provided. The lane following assist apparatus includes a camera that captures an image in front of a vehicle and a processor that receives a forward image from the camera. The processor obtains line information from the forward image, calculates a vehicle offset based on the line information, variably sets a target look-ahead distance depending on whether the vehicle offset is greater than a threshold, and performs lane following assist control using the target look-ahead distance.

Abstract: The present disclosure includes device controllers that output control signals to in-vehicle devices based on a target motion set by a target motion setter based on input from the sensors, and a device failure diagnostic unit provided between the device controllers and the in-vehicle devices in a communication path of an arithmetic unit, in which the device failure diagnostic unit has a device diagnostic table in which the in-vehicle devices associated with each function are specified for each function of the vehicle, and diagnoses a failure of the in-vehicle devices based on output of the in-vehicle devices and the device diagnostic table.

Abstract: Apparatuses, storage media and methods associated with computer assisted driving (CAD), are disclosed herein. In some embodiments, an apparatus includes an autopilot engine to automatically pilot the vehicle out of a potential emergency situation, including to automatically pilot the vehicle for a period of time in view of a plurality of operational guardrails determined in real time for each of a plurality of timing windows; and a mitigation unit to conditionally activate the autopilot engine, including to activate the autopilot engine in response to analysis results indicative of the vehicle being potentially operated into the emergency situation manually. Other embodiments are also described and claimed.

Abstract: A transverse steering method is for moving a vehicle comprising active steering to a target position. The method includes: performing distance and/or angle measurements between the vehicle and the target position enabling the derivation of location and orientation data; deriving the location and orientation data; filtering the location and orientation data into current values, which include current location values and current orientation values; performing control which derives a target steering angle from the current values; and realization of the target steering angle by acting on the active steering of the vehicle.

Abstract: A system is disclosed herein. The system includes a splitter board. The splitter board includes a microprocessor, a converter, and a bypass relay. The converter includes analog-to-digital circuitry and digital-to-analog circuitry. The bypass relay is configurable between a first state and a second state. In the first state, the bypass relay is configured to direct an input signal to the converter. The converter converts the input signal to a converted input signal and splits the converted input signal into a first portion and a second portion. The first portion is directed to the microprocessor. The second portion is directed to an output port of the splitter board for downstream processes. In the second state, the bypass relay is configured to cause the input signal to bypass the converter. The bypass relay directs the input signal to the output port of the splitter board for the downstream processes.

Abstract: A system and method includes upgrading a metamodel for friction coefficient prediction of a brake, in which the metamodel for friction coefficient prediction may be constructed using various derivative parameters relating to the speed, temperature and pressure of a brake disc in addition to basic parameters, such as the speed, temperature and pressure of the brake disc, to greatly improve performance and accuracy in friction coefficient prediction using the metamodel for friction coefficient prediction and to improve accuracy in evaluation of the driving performance of a vehicle through an increase in accuracy of determination of brake torque.

Abstract: A vehicle includes a traffic light indication system (system) with one or more input devices for generating a status input signal associated with a status of a traffic light. The input devices further generate an overriding input signal associated with a hazardous driving condition. The system further includes a notification device for providing a traffic light notification to the user. The system further includes a computer having a processor and a non-transitory computer readable storage medium (CRM) storing instructions. The processor is programmed to generate an actuation signal based on the status input signal. The processor is further programmed to refrain from generating the actuation signal, in response to the processor determining the predicted collision based on the status input signal and the overriding input signal. The notification device provides the traffic light notification to the user, in response to the notification device receiving the actuation signal.

Abstract: A vehicle turn-over determination apparatus includes a turn-over sensor, a memory, a determination processor, and a road-surface detector. The turn-over sensor detects a value of a turn-over angle or a turn-over velocity of a vehicle. The determination processor performs the determination of the turn-over of the vehicle on the basis of the value detected by the turn-over sensor and the determination-threshold information held in the memory. The road-surface detector detects a road surface that is present in a traveling direction of the vehicle. The determination processor varies the determination-threshold information acquired from the memory in accordance with an inclination of the road surface detected by the road-surface detector, and thereby generates adjusted-threshold information adjusted in accordance with the inclination of the road surface.

Abstract: An inertia braking test system and a control method is provided, wherein the inertia braking test system is composed of an inertia brake test system, a sensor system and a tested object. An actuating device is connected with the inertia brake control device through a ball stud. The actuation function of the inertia brake control device with two degrees of freedom along the front-and-rear direction and the up-and-down direction of the vehicle is realized. The movable chassis realizes the mobile function of the system. The acceleration sensor can sense the acceleration of the movable chassis. Each force is tested by the first force sensor, the second force sensor and the third force sensor. The displacement data is measured by the first displacement sensor and the second displacement sensor, so that a movable brake system test is achieved.

Abstract: Systems and methods for managing speed thresholds for a fleet of vehicles are disclosed. Input is used to provide associations between particular weather-relation conditions (such as rain) and arithmetic operations, that may be used to determine a current speed threshold as a function of a local posted speed limit at the current location of a vehicle. The current speed threshold is subsequently used to detect whether vehicles are exceeding the current speed threshold.

Abstract: An automated method of controlling a speed of a vehicle includes identifying parameters of a driving instance of the vehicle; identifying a predetermined profile that is applicable to the driving instance based on the identified parameters; identifying a predetermined speed policy applicable to the driving instance based on the identified profile; and implementing the identified speed policy during the driving instance. The method may be repeated during the driving instance, whereby the speed policy that is implemented is automatically updated when one or more changes in the identified parameters cause a different predetermined speed policy to be identified. Parameter may include driver parameters (e.g., driver age and driver experience); vehicle parameters (e.g., vehicle age, mileage, and tire wear) tire maintenance information); behavior parameters (e.g., speed, acceleration, hard braking of the vehicle, following distance, swerving, and cornering); and circumstance parameters (e.g.

Abstract: The present technique relates to an information processing apparatus, an information processing method, and a program which enable a prediction result that contributes toward improving a pick-up ratio to be presented. The information processing apparatus includes: a display control portion configured to divide a business area of a business vehicle into a plurality of areas and cause a display portion to display, as a prediction result, a movement direction and a movement distance of passengers in an attention area being the area of attention among the plurality of areas for which a pick-up demand has been predicted per area. For example, the present technique can be applied to an information processing apparatus or the like for displaying a prediction result of a pick-up demand of a taxi.

Abstract: An onboard device configured to communicate with one or more other onboard devices in an onboard network, and configured to execute processing for updating of software of an own device while communicating with the other onboard devices, the onboard device includes an electronic control unit. The electronic control unit is configured to generate, when not performing the processing, information to transmit to the other onboard devices by executing the software, as first information, and generate, when performing the processing, information to transmit to the other onboard devices without executing the software, as second information.

Abstract: A method for controlling the movement of a vehicle in an automatic driving operation involves, during the automatic driving operation, the vehicle capable of being operated both in a regular operating mode and in an emergency operating mode. When a functional impairment of the regular operating mode is established, a switch from the regular operating mode to the emergency operating mode is carried out. In the emergency operating mode, the vehicle is guided automatically to an emergency stop position. In the emergency operating mode, the vehicle is braked with a deceleration profile which contains three deceleration phases, namely a first deceleration phase with a momentary strong braking, a second deceleration phase with a somewhat longer moderate braking, and a third deceleration phase with a strong braking lasting until the vehicle has come to a standstill or until the vehicle driver of the vehicle takes over a vehicle guidance of the vehicle.

Abstract: Provided is a passenger monitoring system comprising: a ranging sensor that is provided in a vehicle and capable of outputting a distance information corresponding to a distance to a passenger in the vehicle; and a control unit that estimates a state of congestion of the vehicle based on the distance information.

Abstract: A system is provided that controls an industrial vehicle responsive to encountering working environment tags. The system comprises a transceiver and a tag reader mounted on the industrial vehicle. Also, the system comprises an information processing device communicably coupled to the transceiver and the tag reader. The information processing device comprises a processor in data communication with memory. In this regard, the processor is programmed to receive an identifier of a tag detected by the tag reader while the industrial vehicle is being operated within a work environment, and access electronically, a predetermined action based upon the identifier of the detected tag. The processor is further programmed to communicate information across a vehicle network bus to at least one electronic component of the industrial vehicle to perform the predetermined action, wherein the predetermined action automatically modifies a working state of the industrial vehicle.

Abstract: A system and method that enables individual travelers, including pedestrians or individuals on smaller conveyances, to communicate their location and direction of travel to signal light controllers at an intersection, enables traffic networks to receive this communication and output the detected data to the corresponding intersection traffic-signal controller to allow for individuals not in standard motor vehicles to be detected by traffic detection systems and to allow for priority of traveler flow either independent of vehicle use, or based on specifics of the vehicle used.

Abstract: Methods, computer-readable media, systems and apparatuses for determining a blind corner navigational score based on real-time or near real-time navigational analysis using sensor data, digital image data, and a map database are discussed. In some arrangements, detection of a blind sensor may be performing using sensor data, digital image data, and navigational data from a map database system. In at least some arrangements, a warning signal or a vehicle control signal may be transmitted to a vehicle in response to a determination that the blind corner navigational score is above a threshold. In at least some arrangements, route correction and/or route modification based on an upcoming blind corner may be performed if a blind corner navigational score is above a threshold.

Abstract: An emergency service request system that allows a user to effectively and/or efficiently provide information regarding an emergency situation to an emergency response center. The system presents a series of prompts to a user based on the user's preferred language, with each prompt having one or more prepopulated responses that are selectable by the user in response to the prompt. The user's responses to the prompts are prepared and formatted into a message that is transmitted to an emergency response center. The message contains the user-provided information regarding the emergency situation and the information is provided in a preferred language of the emergency response center.

Abstract: An information processing apparatus manages the operation of an alternative vehicle when a vehicle recovers from a failure. The information processing apparatus includes a controller. The controller is configured to determine, when it is judged that the vehicle is not operational due to failure of the vehicle, to introduce an alternative vehicle to replace the vehicle, and when recovery information indicating that the vehicle has recovered from the failure is acquired, maintain the determination to introduce the alternative vehicle or cancel the introduction of the alternative vehicle and redetermine the recovered vehicle as being operational.

Abstract: An update system includes: a first server that stores a control program; a second server that stores a common program; a difference extraction device that generates difference data between the common program and the control program; and a reprograming tool that transmits the difference data to a vehicle equipped with an ECU to be updated. The difference extraction device searches a search range by a search unit to find whether search target data of the control program is included in the common program, and generates the difference data. The search range includes, for example, an address of the search target data in the control program and addresses rearward of that address. An offset area is provided in a head area of the common program.

Abstract: [Object] To provide a control system, a control method, and a storage medium through which a moving object can change a surrounding environment of a user depending on an emotion of the user. [Solution] Provided is a control system including: an estimation unit that estimates an emotion of a user; and a moving object controller that controls a moving object to change a surrounding environment of the user depending on the estimated emotion.

Abstract: A vehicle control apparatus selects, as a first group, objects in a predetermined area from objects included in object information, selects, as a second group, an upper limit number of the objects from the first group in descending order of a priority value when the number of the objects of the first group is greater than the upper limit number, and executes a collision avoidance control when an index value satisfies a predetermined condition. The priority value represents a probability that the own vehicle collides with the object. The apparatus reduces the priority value of a particular object of the first group when the moving speed of the own vehicle is equal to or lower than a moving speed threshold. The particular object is an object which is deemed to have a moving speed lower than a moving speed of a four-wheel vehicle.

Abstract: A vehicle control device that can appropriately recognize a direction of a vehicle is provided. The vehicle control device includes: an image acquirer configured to acquire an image obtained by imaging a space outside of a vehicle; an object detector configured to detect, through image processing, a plurality of types of objects including a road structure and a moving object shown in the image; a reference line setter configured to select one type of object from the plurality of types of objects and to set a reference line based on a direction of the selected type of object; and a vehicle direction estimator configured to estimate an angle which is formed by the reference line and a traveling direction line of the vehicle as a direction of the vehicle relative to a lane in which the vehicle is traveling or is scheduled to travel.

Abstract: A system and method control an automobile by decelerating the automobile at a first deceleration using a braking mechanism in response to detecting that a parking brake switch is turned on, a second deceleration which is smaller than the first deceleration, in response to not detecting that the parking brake switch is turned on and determining that the driver is incapacitated, and a third deceleration which is smaller than the first deceleration, in response to determining that an SOS switch is turned on, detecting that the parking brake switch is changed from on to off, and not determining that the driver is incapacitated.