Abstract: Via a first processing thread, an ADV is controlled according to a first trajectory that was generated based on a first reference line starting at a first location. Concurrently via a second processing thread, a second reference line is generated based on a second location of the first trajectory that the ADV will likely reach within a predetermined period of time in future. The predetermined period of time is greater than or equals to an amount of time to generate a reference line for the ADV. The second reference line is generated while the ADV is moving according to the first trajectory and before reaching the second location. Subsequently, in response to determining that the ADV is within a predetermined proximity of the second location, a second trajectory is generated based on the second reference line without having to calculate the second reference line at the second location.

Abstract: An apparatus for controlling an MDPS system includes a driving information input unit configured to detect driving information generated during autonomous driving of an autonomous vehicle and input the same to an MDPS controller; a command information input unit configured to input a command for controlling the autonomous vehicle to the MDPS controller in consideration of a road or route along which the autonomous vehicle is to drive, the command being generated by a command information input unit; and the MDPS controller configured to provide a final output that is corrected using a weight (K) set depending on a preset vehicle speed based on the information inputted from the driving information input unit and the command information input unit when the autonomous vehicle switches an operation mode for MDPS control depending on a change in the vehicle speed while driving in an autonomous driving mode.

Abstract: A dual direction accident prevention (DDAP) and assistive braking system (ABS) which detects both the risk of a frontal accident and a rear accident and then coordinates braking to prevent both if possible while giving priority to preventing a frontal accident. In the event of an imminent rear collision with an object or vehicle in front of a driver, the system will choose a braking force which minimizes the impact of the rear collision, while determining a safe approach toward the front obstacle. Furthermore, if a vehicle is approaching the driver and an accident is imminent, and there is no further room in front to reduce the effect of the imminent impact, the system prepares the vehicle and driver by bracing for impact by applying emergency brakes, tightening seatbelts, etc.

Abstract: A disturbance handling system for a vehicle to handle a disturbance, the disturbance being an external force that acts on the vehicle and causes deflection of the vehicle, including: a disturbance detecting portion configured to determine an occurrence of the disturbance and to estimate a degree of influence of the disturbance; and a disturbance handling portion configured to handle the disturbance based on the estimated degree of influence of the disturbance, wherein, when a deviation of an actual yaw rate from a standard yaw rate is larger than a set threshold, the disturbance detecting portion determines that the disturbance is occurring and increases the set threshold in a situation in which the vehicle is being automatically steered, the standard yaw rate being a yaw rate of the vehicle determined based on a steering operation.

Abstract: Methods and systems are provided for inducing vehicle side slip. In one example, a method includes opening a sole driveline disconnect clutch positioned between an engine and an electric machine upstream of a transmission, and closing the sole driveline disconnect clutch within a predetermined amount of time after opening the sole driveline disconnect without shifting gears of the transmission. In this way, vehicle drift may be reliable initiated in a hybrid electric vehicle with an automatic transmission, without shifting gears of the transmission.

Abstract: A turning control device includes: a target steering angle calculation unit configured to calculate a target steering angle of a turning mechanism, based on a second steering angle of a steering mechanism; a steering angular displacement calculation unit configured to, when a third steering angle, the third steering angle being either a first steering angle of the turning mechanism or the second steering angle, is in a range from a maximum steering angle that the third steering angle can take to a first threshold steering angle, calculate a steering angular displacement of the third steering angle with the first threshold steering angle used as a reference; a steering angle correction value calculation unit configured to calculate a steering angle correction value according to at least the steering angular displacement; and a corrected target steering angle calculation unit configured to correct the target steering angle with the steering angle correction value.

Abstract: A vehicle traveling controller according to the present disclosure performs automatic steering so that a vehicle travels along a target path. The vehicle traveling controller allows a driver to intervene in steering. When the driver intervenes in steering and thereby a traveling position of the vehicle deviates outside from a threshold line set apart from the target path in a lane width direction, the vehicle traveling controller increases a steering reaction force acting on steering operation by the driver.

Abstract: A method and a device generate haptic feedback for a vehicle driver, the haptic feedback being generated by applying an additional torque, which alternates about an average total steering torque, to a steering grip of a vehicle by way of an actuator. When the present haptic feedback is recognized and/or simultaneously when haptic feedback occurs, the actuator is actuated such that the magnitude of the average total steering torque is increased by a compensation torque.

Abstract: A vehicle adjustment system includes one or more processors configured to receive data from one or more sensors coupled to a vehicle that is in a stationary position. The one or more processors are also configured to analyze the data to determine whether an object is within a buffer zone surrounding the vehicle while the vehicle is in the stationary position. In response to determining that the object is within the buffer zone while the vehicle is in the stationary position, the one or more processors are configured to provide control signals to one or more driving components of the vehicle to reposition the vehicle to an alternate position.

Abstract: A controller can include an electronic processor unit configured to control the driving direction of a vehicle within a lane based on a first trajectory. The controller can be operable to receive a user input for directing the vehicle along a second trajectory that is different from the first trajectory, determine third trajectory data by at least comparing data associated with the first trajectory to data associated with the second trajectory, and output a control signal for controlling, using the electronic processor unit, the driving direction of the vehicle. The control signal can be based at least on the third trajectory data.

Abstract: A vehicle steering apparatus includes a steering wheel that is mechanically separable from a steering mechanism of a vehicle, and a lateral movement mechanism that moves the steering wheel between a manipulation position set in front of a driver's seat and a withdrawn position set to a position located between the manipulation position and a position in front of a passenger seat.

Abstract: A timer circuit for use with a dual lane motor controller has two motor controllers, each motor controller generating PWM drive signals having a period defined by a respective timer of the timer circuit. The timer circuit comprises a first processing circuit associated with the first motor controller and comprising a first oscillator circuit, a first timer which outputs a first timer signal each time the oscillator circuit has completed a set integer number N of oscillations, and a second processing circuit associated with the second motor controller and comprising a second oscillator circuit.

Abstract: A collision avoidance device includes an electronic control unit configured to: determine whether or not an oncoming vehicle enters inside a turning circle of a host vehicle turning; and execute a collision avoidance control in a case where the electronic control unit determines that there is a collision possibility between the host vehicle and the oncoming vehicle, wherein the electronic control unit is configured not to execute the collision avoidance control when the electronic control unit determines that the oncoming vehicle enters inside the turning circle of the host vehicle.

Abstract: The present disclosure provides a method and an apparatus for autonomously driving a vehicle. The method includes: recognizing a centerline of a lane on which a current vehicle is driving; acquiring a lateral distance between the current vehicle and the centerline of the lane, and a real-time speed and a real-time motion curvature of the current vehicle; calculating the lateral distance, the real-time speed, and the real-time motion curvature, based on a preset first spiral line equation, to acquire parameters of a reference spiral line; calculating the parameters, the real-time speed, and the real-time motion curvature, based on a preset second spiral line equation, to acquire a current spiral line; and determining an steering angle instruction of a steering wheel based on a first curvature of the current spiral line; and controlling the current vehicle for autonomous driving based on the steering angle instruction.

Abstract: A vehicle automated driving system 100 comprises a surrounding environment information acquiring device 10, a vehicle information acquiring device 20, a driver information acquiring device 30, a package selecting part 90, a package proposing part 91, an automated driving executing part 92, and a rejection count detecting part 93. The package selecting part determines the driving assistance package based on at least one of the surrounding environment information, the vehicle information, and the driver information, selects the determined driving assistance package if the rejection count of the determined driving assistance package is less than a predetermined threshold value, and selects a driving assistance package different from the determined driving assistance package if the rejection count of the determined driving assistance package is the threshold value or more.

Abstract: A method of maneuvering a vehicle-trailer assembly in reverse travel with a backing system includes: initiating a backing mode for the backing system; determining a current relative position representing a relative angle between the vehicle and the trailer; retrieving an operator proficiency setting selected by an operator; determining a maximum allowable relevant position for the current trailer based on the selected operator proficiency setting and the current trailer calibration data; receiving a position adjustment request via an input device; determining a new relative position request based upon the position adjustment request and the selected operator proficiency setting; comparing the new relative position request to the maximum allowed relative position setting to determine if the new relative position is below the maximum allowed relative position setting; setting a new relative position to the new relative position request when the new relative position request is within the maximum allowed relativ

Abstract: A device for calculating a vehicle trailer pose using a camera is disclosed, including: a camera arranged offset from a tow bar position of the vehicle and configured to capture an image of the trailer; a memory which is configured to provide data at least one intrinsic parameter of the camera; at least one extrinsic parameter of the camera; at least one predefined tow bar position; and a first image from the camera showing the vehicle trailer at a first pose wherein the camera captures a second image showing the trailer at a pose to be determined; a processor configured to provide image analysis and determine at least one feature correspondence between the first image and the second image and calculate a change in the trailer pose between a first pose of the first image and a second pose of the second image based on the determined correspondence.

Abstract: An ECU independently controls power supply to two winding systems in a motor on a per-winding-system basis based on current command values each calculated for a corresponding winding system in accordance with a target assist torque. When a first winding system fails, the ECU transitions from a first state in which the ECU causes the winding groups of the two winding systems to produce the target assist torque to a second state in which the ECU causes the winding group of the other normal winding system to produce the target assist torque. If the current command value for the normal winding system is equal to or below a current threshold value that is set with reference to zero or a value close to zero when the failed winding system recovers to its normal state in the second state, the ECU transitions from the second state to the first state.

Abstract: In an installation method for laying magnetic markers (10) in a road for driving assist control on a vehicle side, a laying work vehicle (2) sequentially lays the magnetic markers (10) while moving along the road without performing a prior survey or the like of laying positions, and then by using a positioning work vehicle (3) including a magnetic sensor capable of detecting magnetism, the laid magnetic markers (10) are detected and the laying positions are identified to generate position data regarding the magnetic markers (10), thereby allowing reduction of cost of laying the magnetic markers (10).

Abstract: A computer includes a processor and a memory storing instructions executable by the processor. The instructions include to rank a list of minimal risk maneuvers for a vehicle by expected risk score; for each minimal risk maneuver, update a distance from a present location of the vehicle to a respective end location, wherein each end location satisfies a minimal risk condition corresponding to the respective minimal risk maneuver; in response to a first anomalous condition selected from a set of anomalous conditions, determine a distance limit based on the first anomalous condition; then select the minimal risk maneuver ranked best for the expected risk score from the minimal risk maneuvers for which the respective distances are below the distance limit; and then instruct the vehicle to perform the selected minimal risk maneuver.

Abstract: A driving assistance apparatus includes a surrounding object recognition unit configured to recognize a surrounding object, a signal recognition unit configured to recognize a state of a light color of a traffic signal, and an assistance unit configured to assist driving of the host vehicle. The assistance unit is configured to determine whether or not there is a possibility that the host vehicle will come into contact with the surrounding object if the state of the light color is a state of prohibiting the host vehicle from proceeding in one or a plurality of specific directions and when the host vehicle proceeds in that specific direction, and calculate a withdrawal route candidate for the host vehicle to leave from the intersection without coming into contact with the surrounding object if it is determined that there is the possibility that the host vehicle will come into contact with the surrounding object.

Abstract: A vehicle lane positioning system includes a sensor arrangement that is designed to determine lateral boundaries of a vehicle lane. A control unit is designed to calculate a vehicle travel path within the vehicle lane having a predetermined variation from a centered vehicle pathway. An actuator unit is designed to execute the vehicle travel path within the vehicle lane.

Abstract: System, methods, and other embodiments described herein relate to providing inverse parking distance control (PDC). In one embodiment, a method for providing inverse PDC includes obtaining sensor data indicating an entity approaching the vehicle, determining whether the entity is a parking vehicle based on one or more characteristics of the entity derived based on the sensor data, determining whether the entity is utilizing a PDC system, and triggering a proximity alert when the entity approaches within a threshold distance of the vehicle and is determined to be a parking vehicle that is not utilizing a PDC system.

Abstract: A steering apparatus includes: a mechanism that turns a turning wheel; a first motor that generates a driving force that is given to the mechanism; and a control device. The control device includes: a first computation circuit that computes a first limiting value to which an electric current to be supplied to the first motor is limited in a particular situation; a determination circuit that determines whether the turning wheel is in touch with an obstacle; a second computation circuit that computes a second limiting value to which the electric current to be supplied to the first motor is limited when the determination circuit determines that the turning wheel is in touch with the obstacle; and a third computation circuit that computes the threshold to be used by the determination circuit, based on a smaller limiting value of the first limiting value and the second limiting value.

Abstract: An agricultural combine having a chassis, an intermediate member connected to the chassis, a first actuator connecting the chassis to the intermediate member, a first gauge configured to measure a first force generated by the first actuator, a header movably connected to the intermediate member, a second actuator connecting the header to the intermediate member, a second gauge configured to measure a second force generated by the second actuator, and a processing unit operatively connected to the first gauge and to the second gauge and comprising a processor and a memory, the memory storing computer readable instructions that, when executed by the processor, are configured to evaluate the first force and the second force to determine a position of a center of gravity of the header relative to the chassis. A method for determining the position of the center of gravity and weight of the header are also provided.

Abstract: A method directed to at least partially automated control of a motor vehicle while entering or exiting a parking space, including determining a destination position for the motor vehicle following the automated entering or exiting of a parking space; determining a trajectory the motor vehicle to reach the destination position from a starting position of the motor vehicle; providing data representing ground-level obstacles along the trajectory. If ground-level obstacle is detected along the trajectory, determining at least one longitudinal control parameter of the motor vehicle for driving over the ground-level obstacle. At least partially automated movement of the motor vehicle from the starting position until reaching the destination position long the determined trajectory by the at least one longitudinal control of the motor vehicle.

Abstract: A vehicle control device includes an oncoming vehicle detection sensor and a controller that automatically applies brakes to avoid a collision with the oncoming vehicle, under a condition that the own vehicle is at least partially in an opposite lane or a planned path of the own vehicle is at least partially in the opposite lane. The controller sets a virtual area that moves with the oncoming vehicle and that extends in an advancing direction of the oncoming vehicle, and automatically brakes to avoid to avoid a collision. In response to the sensor detecting first and second oncoming vehicles, the controller sets first and second virtual areas, and automatically brakes the own vehicle to prevent coming into contact with the first virtual area and the second virtual area once the own vehicle traverses the opposite lane.

Abstract: An automatic parking device includes a vehicle control unit configured to control a speed, steering of the vehicle, and a shift range of a transmission of the vehicle in order to park the vehicle, a reception unit configured to receive a driving operation by a driver of the vehicle during the automatic parking by the vehicle control unit, and a determination unit configured to determine whether or not the driving operation received by the reception unit satisfies a predetermined override condition. The vehicle control unit stops the vehicle and sets the shift range of the transmission of the vehicle to a non-drive range in a case where it is determined by the determination unit that the driving operation satisfies the override condition.

Abstract: A method of controlling a plurality of marine drives on a multi-hull marine vessel includes determining, based on steering information, that the multi-hull marine vessel is entering a turn and then receiving a running trim position for each marine drive. A trim position of at least a portion of the plurality of marine drives is then adjusted from each respective running trim position so as to induce roll of the multi-hull marine vessel during the turn.

Abstract: Disclosed herein are Motor-Driven Power Steering (MDPS) and a control method thereof. The MDPS includes an information detection unit configured to detect information about the behavior of a vehicle; and a controller configured to receive the information about the behavior of the vehicle from the information detection unit, to determine whether the vehicle is accelerating and whether the vehicle pulls to one side, and to generate compensation torque and drive a driving motor based thereon.

Abstract: A safety system for a vehicle may include one or more processors configured to determine uncertainty data indicating uncertainty in one or more predictions from a driving model during operation of a vehicle; change or update one or more of the driving model parameters to one or more changed or updated driving model parameters based on the determined uncertainty data; and provide the one or more changed or updated driving model parameters to a control system of the vehicle for controlling the vehicle to operate in accordance with the driving model including the one or more changed or updated driving model parameters.

Abstract: An apparatus is provided which includes a processing circuit and a plurality of sensors connected to a vehicle, where at least one of the plurality of sensors is positioned on an undercarriage of the vehicle. The plurality of sensors can detect variations in a road on which the vehicle is traveling. The plurality of sensors can also generate information corresponding to the variations of the road. The plurality of sensors can also transmit the information corresponding to the variations in the road to the processing circuit. The information collected by the plurality of sensors may then be used to augment a driving capability of the vehicle.

Abstract: An evaluation device (10) for an interconnection of at least one first control circuit and one second control circuit for incorporating an interference signal (w), wherein the interconnection comprises at least one first controller (A) for regulating a first control variable (yA) on the basis of a first steering signal (sA) in the first control circuit, and at least one second controller (B) for regulating a second control variable (yB) on the basis of a second steering signal (sB) in the second control circuit, wherein the first steering signal (sA) of the first controller (A) comprises a second output signal (uB) of the second controller (B), comprising an input interface (11) for receiving an interference signal (2), wherein the evaluation device (10) is configured to determine at least one first model steering signal (wA) for the first controller (A) and a second model steering signal (wB) for the second controller (B) based on the interference signal (w), and at least one output interface (12) for incorp

Abstract: An emergency steering apparatus of an MDPS (Motor Driven Power Steering) system may include: a steering angle sensor configured to sense a steering angle of a steering wheel; a vehicle speed sensor configured to sense a vehicle speed; an assist rack force detector configured to detect an assist rack force of the MDPS system using the steering angle sensed by the steering angle sensor and the vehicle speed sensed by the vehicle speed sensor; and a command current detector configured to detect a command current of a motor using the assist rack force detected by the assist rack force detector

Abstract: A vehicle control device (100, 1) including: a detector (110, 16) detecting other vehicles; a lane change executer (154) executing a lane change of a subject vehicle on the basis of states of the other vehicles detected by the detector without depending on a steering operation of a vehicle occupant of the subject vehicle; a determiner (152) determining whether or not the lane change is to be continued on the basis of the states of the other vehicles executing a lane change from a third lane adjacent to a second lane to the second lane, which are being detected or have been detected by the detector, after control of executing a lane change of the subject vehicle from a first lane to the second lane adjacent to the first lane is started by the lane change executer; and a return controller (156) returning the subject vehicle from the second lane to the first lane in a case in which it is determined that the lane change is not to be continued by the determiner.

Abstract: In a cruise assist system, a turning angle controller executes at least one of an automatic cruise control task that automatically controls a turning angle of the vehicle, and an assist control task that controls the turning angle of the vehicle in accordance with an occupant's operation of the steering wheel. A holding determiner includes an input detector detecting an occupant's physical input to a steering shaft via a steering wheel based on at least one of a first type physical quantity and second type physical quantities. Each of the first and second physical quantities depends on rotational movement of the steering shaft. The first type physical quantity contains the occupant's physical input, and a disturbance input, which is different therefrom, to the steering shaft. The second type physical quantities have a physical relationship therebetween, which is changed depending on the occupant's physical input.

Abstract: A vehicle traveling control apparatus comprises a driving support ECU. The driving support ECU determines whether or not a driver of a vehicle is under an abnormal state where the driver losses an ability to drive the vehicle. The driving support ECU executes a deceleration control to decelerate the vehicle after an abnormal determination time point at which it is determined that the driver is under the abnormal state. The driving support ECU decelerates a vehicle speed of the vehicle to within a predetermined low vehicle speed range and thereafter, causes the vehicle to travel at a speed within the low vehicle speed range.

Abstract: A method for providing low speed lateral steering control for an autonomously driven or semi-autonomously driven vehicle includes obtaining a desired final vehicle position relative to a current vehicle position, and calculating, by one or more data processors, a target vehicle position based on the current vehicle position and the desired final vehicle position. The method further includes calculating, by the one or more data processors, a road wheel angle command value based on the target vehicle position; determining, by the one or more data processors, a control signal based on the calculated road wheel command value; and providing the control signal to a steering controller.

Abstract: Driving control systems and methods include a first vehicle having one or more processors programmed to receive an individual driving behavior model specific to a driver of a second vehicle proximate the first vehicle. The individual driving behavior model is based on historical driving behavior of the driver of the second vehicle. The one or more processors are programmed to identify a motion plan for the first vehicle based on the individual driving behavior model specific to the driver of the second vehicle, and to control movement of the first vehicle according to the identified motion plan.

Abstract: A moving body control device expands an autonomously movable region, appropriately determines reliability of the expanded region, and realizes stable autonomous movement at low cost. The device includes: an external map acquisition unit acquiring an external map; a sensor acquiring external environment information around the moving body; a movement information acquisition unit acquiring movement information indicating a position or an advancing angle of the moving body; an autonomous movement range management unit generating an autonomous movement map based on the external information or the movement information; and a control unit controlling movement of the moving body based on the autonomous movement map, the external environment information, or the movement information, the autonomous movement range management unit comparing the autonomous movement map with the external map, the control unit controlling the moving body based on a comparison result in the autonomous movement range management unit.

Abstract: Systems and methods are provided for generating trajectories for a vehicle user interface showing a driver's perspective view. Methods include generating an ego-vehicle predicted trajectory for an ego-vehicle; and generating at least one road agent predicted trajectory for a road agent that is external to the ego-vehicle. After the predicted trajectories are generated, the method continues by determining that at least one predicted trajectory overlaps either an object or another predicted trajectory, when displayed on the user interface showing a driver's perspective view. The method includes modifying the at least one road agent predicted trajectory to remove the overlap. The method then proceeds with updating a display of the user interface to include any modified road agent predicted trajectory. Systems include a trajectory-prediction module to execute the methods.

Abstract: A parking assistance device that can, when assisting in angle parking, park a vehicle at a position intended by a driver and in a correct vehicle attitude. The parking assistance device includes a pull-out path computing unit that computes a pull-out path for pulling a vehicle out of a parking space based on parking space information and constraint conditions regarding vehicle behavior, a candidate connection position setting unit that sets a plurality of candidate connection positions the pull-out path, a reachable path computing unit that computes a reachable path that allows the vehicle to reach one of the plurality of candidate connection positions from the initial position, and a parking path setting unit that sets a parking path by connecting the pull-out path and the reachable path. The pull-out path computing unit computes the pull-out path based on the angle of inclination between the road orientation and the parking orientation.

Abstract: A method and a system for controlling driving of a vehicle according to a driving intent of a driver in a sports mode, may include determining a situation in which whether sporty driving is required for the vehicle due to an output value reflecting a driving state of the vehicle which is driving in a sports mode, and, when the situation is determined as requiring the sporty driving, controlling, by the controller, the clutch mechanism to release a coupling between the front wheel and the front wheel drive motor for the vehicle to drive in a rear wheel drive manner, and the system to which the method is applied.

Abstract: An apparatus and a method for controlling a vehicle steering system, which are capable of improving a sense of unity between driver's driving input and vehicle motion and the stability of the vehicle by estimating a side slip angle and performing return control, may include an assist torque determination module for determining assist torque for steering assist, a return control module for determining steering return torque for returning the steering wheel to a neutral position, a side slip angle estimation module for estimating a side slip angle, a side slip control module for determining a return control gain value in a response to the estimated side slip angle, a correction unit of correcting the determined steering return torque in a response to the return control gain value, and a torque compensation unit of determining final assist torque by compensating the determined assist torque with the corrected steering return torque.

Abstract: A vehicular driving assistance system includes a camera disposed at a vehicle and a control having an image processor that processes image data captured by the camera to determine lane markings demarcating a traffic lane in which the vehicle is traveling. The control, responsive to a map input to the control, estimates a path of travel for the vehicle to maintain the vehicle in the traffic lane in which the vehicle is traveling in situations where the lane markings demarcating the traffic lane in which the vehicle is traveling are not readily determinable. The system updates the estimated path of travel ahead of the vehicle even when no lane markings are determined present on the road ahead of the vehicle. The control adjusts processing of captured image data responsive at least in part to a driving situation that the vehicle is in.

Abstract: A trailer reverse assist system includes a coupler angle detection sensor to detect a zero degree angle of the trailer relative to the vehicle. A drift controller receives signals from vehicle dynamics sensors. The drift controller is electrically connected with a trailer reverse assist module. When the vehicle is backing up the trailer on the intended straight line implied path and since the coupler angle sensor, detecting the zero degree angle, is not perfectly calibrated, based in the signals from the vehicle dynamics sensors, the drift controller 1) estimates a distance that the trailer has drifted from the straight line desired path and 2) in a closed-loop feedback manner, provides a drift correction signal to the trailer reverse assist module for modifying the value of the zero degree angle and thus cause adjustment of the steering system to realign the trailer towards the straight line implied path without manual steering intervention.

Abstract: Provided is an assist apparatus for a vehicle leaving a parking space, including an automatic leaving execution unit configured to execute automatic leaving by automatic travel control mode of the vehicle and a switching control unit configured to switch driving of the vehicle from the automatic travel control mode to driver's driving operation mode, in which a state of the vehicle is determined and whether or not to perform a predetermined automatic travel control before switching the drive of the vehicle to the driver's driving operation mode is determined based on the determination result of the state of the vehicle.

Abstract: In one embodiment, a method of generating a path for an autonomous driving vehicle (ADV) is disclosed. The method includes obtaining vehicle configuration of the ADV. The vehicle configuration includes a longitudinal state of the ADV and a lateral state of the ADV relative to a discretized point along a reference line. The method further includes estimating one or more boundaries for the lateral state of the ADV with respect to the longitudinal state of the ADV. The estimation of the boundaries includes obtaining vehicle parameters and sensor data of the ADV, using a vehicle kinematic model to estimate the boundaries based on the vehicle parameters and the sensor data, and outputting the estimated boundaries. The method further includes generating an optimal path to control the ADV based on the vehicle configuration and the estimated boundaries.

Abstract: A vehicular trailer assist system includes a camera disposed at a rear portion of a vehicle and having a field of view exterior of the vehicle. A control includes a processor for processing image data captured by the camera. The control, responsive to processing at the control of captured image data, determines a trailer angle of a trailer hitched to the vehicle. Responsive to determining the trailer angle, the control determines a trailer direction that is based at least in part on the determined trailer angle. The control is operable to determine a virtual destination location that is a location that is a predetermined distance from the trailer and in the determined trailer direction. Responsive to determining the trailer direction, and during a reversing maneuver of the vehicle and trailer, the control controls steering of the vehicle to direct the trailer in the determined trailer direction toward the virtual destination location.

Abstract: A driving support apparatus for an own vehicle includes a lane keeping assist control unit. When an interrupting vehicle enters ahead of the own vehicle in (i) a situation in which no preceding vehicle is present ahead of the own vehicle, or (ii) a situation in which a preceding vehicle is present ahead of the own vehicle, while a deviation angle formed between a direction of a traveling trajectory of the interrupting vehicle and a traveling direction of the own vehicle is larger than a threshold, the lane keeping assist control unit is configured not to perform a lane keeping assist control based on the traveling trajectory of the interrupting vehicle, and is configured to discard the traveling trajectory of the interrupting vehicle. On and after the deviation angle becomes equal to or smaller than the threshold, the lane keeping assist control unit is configured to perform the lane keeping assist control based on the traveling trajectory of the interrupting vehicle.