Abstract: A control device and method in which, even when a road deviation operation is performed continuously near a road boundary where sidewalk/road separating blocks are discontinuously lined up, discontinuity does not occur in the control input, and unwanted vehicle behavior does not occur. The sizes of obstacles present around a host vehicle, as well as their relative positions and relative speeds with respect to the host vehicle are detected. An obstacle link length that serves as a determination criterion for virtual linking of obstacles is set. A gap position interpolation process is performed with respect to the linked obstacles. A search is performed as to whether or not there exists a control subject for which collision is to be avoided. A yaw moment for avoiding an obstacle is calculated based on position information of the avoidance control subject.

Abstract: A Guided Soft Target System is disclosed that includes a subject vehicle and a dynamic motion element (DME). The subject vehicle may be accelerated at an arbitrary rate to a speed corresponding to the speed in its own predetermined trajectory. Each of the DME vehicles computes its target speed as a ratio of the subject vehicle's speed at each waypoint location, and modulates its speed control to achieve this target speed. To further compensate for timing differences along the target path, each DME computes its longitudinal error along the path relative to its target position, as dictated by the position of the subject vehicle within its own trajectory, and each DME's target speed is modulated in order to minimize the longitudinal error along the predetermined trajectory.

Abstract: An exemplary embodiment relates to an aircraft system for detecting wires. The system includes a processor configured to actively sense a presence of a first object and a second object. The processor determines a location of the first object and the second object. The processor determines a potential location of a wire between the first object and the second object. The processor actively senses the wire by providing electromagnetic energy to the potential location.

Abstract: An apparatus and method are described for lateral control of a host vehicle (F) during travel in a vehicle platoon. The apparatus and method include acquiring a control signal u and a lateral error ? relative to a target vehicle (L) of a preceding vehicle (T) travelling in the vehicle platoon, filtering the received lateral error ?, filtering the received control signal u, and executing via a processor a control algorithm for actuating lateral control of the host vehicle (F).

Abstract: Disclosed herein is a method and apparatus for providing traffic information of public transportation means, such as a bus, and utilizing the provided information. A method of encoding public traffic information according to the present invention creates an identifier of bus information system, an ID of bus route, and location information of each in-service bus pertaining to the bus route. The location information is expressed in a stop ID that is uniquely allocated to all of bus stops within coverage of BSI (Bus Service Information) service. The created information is organized to status information that is in turn incorporated into a transfer message. A sequence of transfer messages, each being constructed as described above, is wirelessly transmitted.

Abstract: A navigation receiver mounted on a moving vehicle receives navigation signals transmitted from global navigation satellites. The navigation signals are separated into direct navigation signals, navigation signals reflected from an object, and navigation signals reflected from an environmental surface. The signal separation is based on algorithms including various combinations of signal strength, change in signal strength, delay time, spectral width, change in spectral width, and user-defined thresholds. The navigation signals reflected from an environmental surface are eliminated from further processing. The position of the navigation receiver is calculated based on the direct navigation signals. The object is detected, and the position of the object is calculated, based on the navigation signals reflected from the object. If the object is determined to lie in the path of the moving vehicle, a command can be generated to avoid collision between the moving vehicle and the object.

Abstract: In order to provide better monitoring for the side environment of a vehicle a lighting unit to light up a vehicle environment and a detection unit for detecting an object in the vehicle environment are provided. The lighting unit is automatically switched on if the detection unit has detected an object in the vehicle environment.

Abstract: Described herein is a technology for facilitating complex event processing for moving objects. In some implementations, data associated with moving objects is received from multiple data sources. One or more constraints associated with an event-of-interest are determined. The event-of-interest that satisfies the one or more constraints is detected based on the data. A notification of the detected event-of-interest may then be sent. For purposes of illustration, some specific complex event processing scenarios based on maritime vessels have been presented to demonstrate the capabilities of the present framework.

Abstract: A periphery vehicle determination apparatus disposed in a host vehicle includes a behavior obtaining section obtaining a behavior related information of an immediately adjacent object, a vehicle-to-vehicle communication device, an information obtaining section obtaining vehicle information sets from periphery vehicles, a specifying section specifying a vehicle information set from an immediately adjacent vehicle based on the behavior related information, a transceiving section transmits and receives an immediately adjacent information, and an anteroposterior relation determination section specifying an anteroposterior relation of the periphery vehicles in a one-dimensional direction by correlating the immediately adjacent informations transmitted from the periphery vehicles based on a repeated identification information included in at least two of the immediately adjacent informations.

Abstract: A method for automatic control of an aircraft in event of flight crew incapacity may include determining any incapacity of the flight crew. The method may also include providing a message requiring acknowledgement from the flight crew in response determining incapacity of the flight crew. The method may additionally include commanding an auto pilot to control the aircraft in response to not receiving acknowledgement from the flight crew.

Abstract: A pedestrian protection system from a vehicle utilizes GPS data to reduce the number of false positive detections for impacting an object determined to be a pedestrian. The GPS data is used to focus on area of increased and/or decreased pedestrian presence to alter a reaction threshold for the vehicle. Additionally, the GPS data can be used for more accurate analysis of the likelihood of an impact.

Abstract: A method and system provide road and obstacle detection in navigating an autonomous vehicle. The method comprises scanning a distance ahead of the autonomous vehicle to obtain a current range scan, and obtaining navigation data, including dynamics, position, and orientation measurements of the autonomous vehicle. The current range scan is transformed to world coordinates with respect to a reference location based on the navigation data, and the transformed current range scan is input into a distance-based accumulator. The transformed current range scan is added to a variable size buffer when the autonomous vehicle is deemed to be non-stationary. A ground plane is estimated from the transformed current range scan and prior range scans stored in the variable size buffer. The estimated ground plane is represented as a constrained quadratic surface, which is classified into one or more of a traversable area, a non-traversable area, or an obstacle area for navigation of the autonomous vehicle.

Abstract: Ground vehicle reporting and tracking techniques are provided to track vehicles associated with a particular area (e.g., an airport, a military base, etc.). Ground vehicles may regularly report information about the vehicle to one or more control stations via corresponding communication links. The communication links may include, for example, an Automatic Dependent Surveillance-Broadcast (ADS-B) link and a non-ADS-B link.

Abstract: A sensing system, a sensing method, and a recording medium thereof are provided, which are applicable to a sensing area formed of at least four boundary lines, in which neighboring boundary lines are at a straight angle, and each boundary line is at least three sensing points are set thereupon. Each sensing point implies a coordinate on XY plane. Each sensor provides a sensed value, location information and coordinate corresponding to a sensing point. The processor gets sensed values corresponding to all sensing points from the sensors, and estimates the estimated values of a plurality of expected estimated boundary points on each boundary line according to one of a plurality of estimation formulas and the sensed values of the three sensing points on each boundary line, in which the distance between each expected estimated boundary point and its other neighboring expected estimated boundary points is within a preset value.

Abstract: For regulating the speed of a motor vehicle, a control apparatus is equipped with an object detection system, and the reference speed is determined as a function of at least one preceding vehicle in the evaluation region of the object detection system, such that upon recognition of an imminent lane change by the regulated vehicle, vehicles in the adjacent destination lane are additionally taken into consideration for calculation of the reference speed by expanding the evaluation region in the direction of the destination lane, and consideration is given only to vehicles in the destination lane whose distance from the regulated vehicle is less than a predetermined distance value.

Abstract: Methods and computer readable medium for collaborating on geographical maps between two or more computers are disclosed. In particular, sharing a geographical location on a map between two or more computers and co-navigating a map between two or more computers are disclosed. With respect to sharing a geographical location, the geographical location is retrieved to the first computer. The geographical location is added to the map being rendered at the first computer and is sent to a second computer. A map including the geographical location is rendered at the second computer. With respect to co-navigating, a map is displayed from a map perspective at the first computer. The map perspective is sent to the second computer. A map from the same map perspective being displayed at the first computer is rendered at the second computer.

Abstract: A method of detecting a location of an opposing vehicle using Global Positioning System (GPS) information in which pieces of GPS raw data and pieces of GPS post-processing data of a driver's vehicle and of an opposing vehicle are received. It is determined using the received GPS post-processing data whether the opposing vehicle is a vehicle that has entered a predetermined range. If it is determined that the opposing vehicle is a vehicle that has entered the predetermined range, it is determined whether common data is present in the pieces of GPS raw data of the driver's vehicle and of the opposing vehicle by comparing the pieces of GPS raw data with each other. A degree of proximity to the opposing vehicle is using the common data in the pieces of GPS raw data of the driver's vehicle and the opposing vehicle.

Abstract: Disclosed herein is an apparatus for detecting locations of a vehicle and an obstacle. The apparatus for detecting locations of a vehicle and an obstacle includes at least one distance measurement unit and a data processing unit. The distance measurement unit measures distance data relevant to a vehicle and an obstacle within a measurement area. The data processing unit maps the distance data on a grid layer, detects the location of the vehicle based on the result of the mapping, detects the location of the obstacle based on the detected location of the vehicle, and modifies the detected location of the vehicle using the distance data.

Abstract: A technique for assisting driving a vehicle and for learning at least one distance between first and second distinctive marks on or at a road is disclosed. In method aspects, a first method comprises the steps of identifying the first distinctive mark on or at a road on which the vehicle is travelling, retrieving, from a database, a distance between the first distinctive mark and the second distinctive mark, calculating, based on a location of the vehicle relative to the first distinctive mark, the relative distance of the vehicle to the second distinctive mark taking into account the distance between the first and second distinctive marks, and assisting the driving of the vehicle based on the calculated relative distance. A second method comprises the steps of identifying the first and second distinctive marks, calculating the distance between the first and second distinctive marks, and storing the distance between the first and second distinctive marks.

Abstract: A vehicle intersection monitoring method includes exchanging host vehicle information and remote vehicle information between a host vehicle and a remote vehicle, with the host vehicle information including information pertaining to a host vehicle location, a host vehicle heading and a host vehicle intended next maneuver and the remote vehicle information including information pertaining to a remote vehicle location, a remote vehicle heading and a remote vehicle intended next maneuver. The method further includes identifying a road intersection relating to the host vehicle heading and the remote vehicle heading, selecting an intersection scenario from a plurality of intersection scenarios based on the host vehicle information and the remote vehicle information, and monitoring, by operation of a processor, a location relationship between the host vehicle and the remote vehicle according to an algorithm that is determined based on the selected intersection scenario.

Abstract: A sensor system for a host vehicle may detect whether another in-path vehicle is turning. The sensor system may include a transmitter, a receiver and a controller. Signals may be emitted by the transmitter over a detection area. The emitted signals may reflect off an object vehicle in the detection area and be received by the receiver. The receiver may include a number of channels, each corresponding to a different region of the detection area. The sensor system may determine whether the in-path vehicle is turning and in what direction based on the reflected signals received at each channel.

Abstract: An automotive vehicle braking system and method for controlling the same. The system includes an electronic controller communicatively coupled to a vehicle braking system and a vehicle motion detection device. The braking system is configured to be automatically activated in response to detection of an object in a path of the vehicle. Once activated, the braking system is deactivated either by the driver or a pre-determined time period after detection that motion of the vehicle has stopped. Prior to deactivation of the vehicle braking system an HMI message is activated indicating imminent deactivation of the vehicle braking system.

Abstract: A vehicle control device includes travel condition detection devices configured to detect conditions around a vehicle and performs travel control of the vehicle according to the conditions around the vehicle by controlling a plurality of actuators according to information detected by the travel condition detection devices. The vehicle control device has a plurality of the travel condition detection devices. A control amount of at least one of the actuators, from among the plurality of actuators, is restricted according to reliability of a plurality of pieces of the information detected by the plurality of travel condition detection devices.

Abstract: Methods for pedestrian unit (PU) communication activity reduction in pedestrian-to-vehicle communication networks include obtaining safety risk information for a pedestrian at risk for involvement in an accident and using the risk information to adjust a PU communication activity. In some embodiments, the activity reduction is achieved without implementing understanding of surroundings. In other embodiments, the activity reduction is based on risk assessment provided by vehicles. In some embodiments, the activity reduction includes PU transmission reduction. In some embodiments the transmission activity reduction may be followed by reception activity reduction for overall power consumption reduction.

Abstract: Embodiments of the present invention provide an approach for locating connections/contacts of a user of social networking websites based on an intended travel destination of the user. Specifically, embodiments of the present invention will analyze a set of online resources (e.g., travel websites, social networking services, calendaring programs, etc.) to identify one or more travel profiles (e.g., reservations) associated with the user. Based on one or more intended destinations set forth in the travel profile(s), social networking websites associated with the user may be analyzed to identify and locate contacts/connections of the user that are located within a predetermined proximity of the intended destination(s). Once such contacts have been identified, the user may be provided with a notification that identifies the contact and provides the contact's location.

Abstract: This invention discloses a data inquiry system for three-dimensional location-based image, video, and information, which comprises a client device and a remote server. The client device provides space parameters and lens parameters to the remote server through a transmission module. The remote server determines a space inquiry range by the space parameter and lens parameter, inquires an object data of an object space position parameter at the space inquiry range, shows the object data in an image data displayed by the client device to facilitate users to identify the desired viewing object, and further inquires the object data and related image and/or video data.

Abstract: An approaching vehicle detecting system that detects an approaching vehicle on the basis of sounds collected by a plurality of sound collectors mounted on a host vehicle determines whether a transverse moving direction of a sound source detected by the plurality of sound collectors is a direction approaching the host vehicle, determines whether a vertical position of the sound source detected using the plurality of sound collectors is in the same plane as that of the host vehicle, and detects that sound source as the approaching vehicle when it is determined that the transverse moving direction of the sound source is the direction approaching the host vehicle and the vertical position of the sound source is in the same plane as that of the host vehicle.

Abstract: Navigation systems for use in indoor environments may include a navigation system that can calculate the time of flight of signals between a navigation device and a WiFi Access Point. Such a calculation can be more accurate not just by using more accurate oscillators in devices, but by correcting the relative error between two devices. This error may be found by determining a timing offset correction, the difference in accuracy between the navigation device and the WiFi Access Point. This may be performed by performing a fine frequency estimation on a long training field or by receiving the PPM offset from another device. Once the PPM offset is determined, the accuracy of the navigation device can be improved by a factor of 50 using a series of equations described in the disclosure.

Abstract: A relative position detection device is used for a traveling system that allows a first and second vehicles to travel such that the first vehicle precedes and the second vehicle follows the first vehicle. The detecting device includes a sensor pair of a first and second sensors and an arithmetic unit. The first and second sensors are located at the same height on the right and left end portions of the front surface of the second vehicle. The first and second sensors emits transmission waves from their located positions in their front directions and receives their reflected waves. The arithmetic unit detects a direction of deviation between the first and second vehicles in the right and left direction on the basis of a difference between a first intensity of the reflected wave received by the first sensor and a second intensity of the reflected waves received by the second sensor.

Abstract: A proximity determination method includes: collecting a first concealed vector based on a linear combination of a row vector of a key matrix, first numerical information, and a first random number, the key matrix being generated by adding a random number vector as a last column to a matrix in which a threshold for determining a proximity range is a diagonal element; collecting a second concealed vector based on the linear combination, second numerical information, and a second random number; calculating a remainder vector, the remainder vector being a remainder obtained from a difference between the collected first concealed vector and the second concealed vector when the key matrix is used as a modulus; and determining whether the first numerical information and the second numerical information belong to the proximity range, based on the calculated remainder vector.

Abstract: A position recognizing apparatus and method is provided. The position recognizing apparatus includes a range sensor which senses a distance between the position recognizing apparatus and a range landmark, and a candidate range landmark information generating unit which generates information about candidate range landmarks. The candidate range landmark information is modeled using a position and a posture of the position recognizing apparatus, the sensed distance and an angle between the range landmark and the position recognizing apparatus. The position recognizing apparatus further includes a range landmark extracting unit which, if a new distance is sensed, updates the candidate range landmark information and extracts actual range landmark information from the candidate range landmark information, and a position recognizing unit which recognizes a position of the position recognizing apparatus based on the extracted actual range landmark information.

Abstract: A perceived relative distance that shows a relative distance between a host vehicle and a perception object perceived by a driver of the host vehicle is calculated on the basis of an actual relative distance therebetween. A perceived relative velocity that shows a relative velocity between the host vehicle and the perception object perceived by the driver is calculated on the basis of an actual relative velocity therebetween. A perceived relative ratio that is a ratio between the perceived relative distance and the perceived relative velocity is calculated. If the perceived relative ratio exceeds a threshold value, a vehicle control is performed.

Abstract: A system and method for estimating location and motion of an object. An image of a ground surface is obtained and a first set of features is extracted from the image. A map database is searched for a second set of features that match the first set of features and a geo-location is retrieved from the map database, wherein the geo-location is associated with the second set of features. The location is estimated based on the retrieved geo-location. The motion of the object, such as distance travelled, path travelled and/or speed may be estimated in a similar manner by comparing the location of extracted features that are present in two or more images over a selected time period.

Abstract: A method of optically locating an aircraft relative to an airport having standardized signage, including markings, the method includes generating an image of at least a portion of the airport from an optical sensor mounted on the aircraft, determining the location of the aircraft, and providing an indication of the determined location within the aircraft.

Abstract: The relative position of one vehicle vs. another vehicle, both driving in a vehicular environment, is determined using vehicular communications based on the IEEE 802.11 standard. The relative position determination is performed in a measuring vehicle using data provided by a measured vehicle through IEEE 802.

Abstract: Technology for determining a point-to-point separation between a first ship (e.g., guide ship) and a second ship (e.g., following ship) is disclosed. One approach can include maritime autonomous station keeping (MASK) interactive device comprising a communication module and a processor. The communication module can be configured to receive a following ship reference point (SRP) generated by at least one differential global positioning system (DGPS) receiver on a following ship relative to a guide SRP generated by at least one DGPS receiver on a guide ship. The processor can be configured to generate a plurality of fixed following reference edge points (REPs) relative to the following SRP representing a following ship hull, generate a plurality of fixed guide REPs relative to the guide SRP representing a guide ship hull, and monitor a plurality of distances between the plurality of following REPs and the plurality of guide REPs.

Abstract: A method providing persons in a group information about the whereabouts of others in the group, including whether persons in the group have moved away from an associated vehicle. The method includes receiving information into a computer system derived from measured rf signal strength sent in digital form from one or more portable devices. The information indicates whether any of the persons has moved from a first relatively close position with respect to an associated vehicle and farther away from the associated vehicle than the first position. A timer function may be initiated if the received information indicates that a first person has moved farther away from the associated vehicle than the first position. Updated information may be received, indicating whether the first person remains farther away from, or has moved to a position at least as close as the first relatively close position is to, the associated vehicle.

Abstract: An information processing apparatus that detects a current location of the information processing apparatus; obtains a direction of a destination from the detected current location as a target direction; detects a facial orientation of a user wearing a headphone unit connected to the information processing apparatus via a wired or wireless connection in relation to a reference orientation based on outputs of a geomagnetic sensor and an acceleration sensor connected to the headphone unit; obtains a relative target angle based on a difference between the target direction and the user's facial orientation; and generates sound to be output by the headphone unit based on the obtained relative target angle.

Abstract: An object detecting device and an object detecting method capable of performing appropriate object detection that distinguishes an approaching moving object from a stationary object accurately. The relative velocity of an object, which exists in the lateral direction of a vehicle, with respect to the vehicle is detected, the absolute velocity of the object in the horizontal direction of the vehicle is calculated on the basis of the detection signal, and it is determined whether or not the object is an approaching moving object on the basis of the absolute velocity of the object in the horizontal direction of the vehicle. Accordingly, since it is possible to accurately distinguish whether an object existing in the lateral or oblique direction of the vehicle is an approaching moving object or a stationary object, it is possible to appropriately determine whether or not the object is an approaching moving object.

Abstract: A method and system is provided for determining a relative position between a host vehicle and a remote vehicle using an indirect assisting entity technique. A GPS position of the host vehicle and a remote vehicle are obtained. A number of common satellites providing GPS data to the host vehicle and the remote vehicle are determined. An indirect-assisting entity is identified having a common number of satellites in communication between the host vehicle and remote vehicle, respectively, which is greater than the number of common satellites between host vehicle and the remote vehicle. A relative position is determined between the host vehicle and the indirect-assisting entity, and the remote vehicle and the indirect-assisting entity. A position of the host vehicle relative to the remote vehicle is determined as a function of the determined position of the host vehicle and remote vehicle relative to the indirect-assisting entity.

Abstract: A signal detecting unit configured to be associated with a first vehicle includes one or more signal sensors and one or more processors and is configured to receive one or more signals from one or more signal sources is associated with a second vehicle. A set of time values is determined based on arrival times of the signal(s), and a set of distance expressions is generated. A set of distance equations is generated based on the set of time values and the set of distance expressions, and the set of distance equations is solved to determine one or more positions associated with the first vehicle or the one or more signal sources within a defined coordinate system.

Abstract: A system and methods for building a map non-invasively (i.e. mapping of occluded and non-occluded obstacles) based on a small number of wireless channel measurements. Approaches for building an obstacle map are based on coordinated space, random space and frequency sampling, such that the sparse representation of the map in space, wavelet or spatial variations, are exploited in order to build the map with minimal sensing.

Abstract: Computer implemented methods of facilitating contract procurement and contract management through an online contract procurement and management website. An example of a computer implemented method includes assigning a personalized contracting entity member user web page to each of a plurality of contracting entity member users associated with a contracting entity, and assigning a personalized contractor member user home web page to each of a plurality of contractor member users associated with a plurality of potential contractors. The personalized contracting entity member user web pages can provide centralized access to perform contract procurement functions for each of the virtual contract rooms associated with the respective contracting entity member users. The personalized contractor member user web pages can provide consolidated contract room access and consolidated contract room task and communication review for each of the virtual contract rooms associated with the respective contractor member users.

Abstract: A collision determination ECU (1) includes: a first information generation section (101) that acquires time information from a timer (4) every predetermined time period PA, and associates own vehicle time information representing an own vehicle time, which is the acquired time information, with own vehicle identification information, to thereby generate first output information; a transmission control section (102) that transmits the generated first output information by broadcasting; a reception control section (103) that receives own vehicle time information representing an own vehicle time and own vehicle identification information, which are included in first output information from an other vehicle VCB, as other vehicle time information representing an other vehicle time and other vehicle identification information, respectively; a reception time acquisition section (104) that acquires reception time information representing a reception time from the timer (4), when the first output information is receiv

Abstract: A robot cleaner and a method for controlling the same are provided. A region to be cleaned may be divided into a plurality of sectors based on detection data collected by a detecting device, and a partial map for each sector may be generated. A full map of the cleaning region may then be generated based on a position of a partial map with respect to each sector, and a topological relationship between the partial maps. Based on the full map, the robot cleaner may recognize its position, allowing the entire region to be completely cleaned, and allowing the robot cleaner to rapidly move to sectors that have not yet been cleaned.

Abstract: When an obstacle is sensed on a side of a vehicle, the future position of the vehicle after a prescribed time is predicted. When the predicted vehicle future position reaches a prescribed lateral position in the lane width direction, a decision to start a control is made, and the vehicle is controlled in a direction to prevent it from coming too close to the obstacle. If a state occurs in which the obstacle is sensed after not being sensed (i.e., it is first sensed), a decision to start the control is suppressed.

Abstract: Systems, methods, and software for determining proximity to a utility and using the location information of the utility are provided herein. In one example, a non-transitory computer readable medium having stored thereon program instructions executable by a computing device is presented. When executed by the computing device, the program instructions direct the computing device to receive an indication of location of a utility, receive location information of a device, determine utility proximity information, and provide an indication of utility proximity information. The utility location information may then be used with map and other information, or used to control grading operations.

Abstract: A system and method is provided of determining geographic positions. In one aspect, a user points the device at first and second positions on the surface of a geographic object. Based on the position of the device, the orientation of the device, and information identifying the geographic position of the surface of the object, a processor determines and displays the distance between the first and second positions.

Abstract: An apparatus, method, computer program and user interface wherein the method comprises: a controller configured to determine locations of interest within a predetermined distance of a first location; a display configured to simultaneously present a map, a first bounded area of the map and a list of the determined locations of interest within the first bounded area; a user input device configured to enable a user to make a user input, wherein; the controller is configured to detect a user input and, in response to the detection of the user input, control the display to present a second bounded area of the map and update the list of the determined locations of interest so that locations of interest within the second bounded area are presented in the list.

Abstract: A method generates trajectories for motor controlled actuators subject to dynamics, acceleration and velocity constraints. The method solves a constrained optimal control problem with dynamics, acceleration, and velocity constraints. The motor control problem is formulated as an optimal control problem using an energy cost function which is based on numerical optimization results. A solution to the two-point boundary value problem (TBVP) for the unconstrained case of the optimal control problem is obtained. The energy efficient motor control trajectory generation solver is designed for real time energy efficient trajectory generation. The solver converts a difficult multi-point boundary value problem (MBVP) associated with the state and acceleration constrained optimal control problem into an iterative solution for the TBVPs with updated boundary conditions.