СИСТЕМА ПРЕДУПРЕЖДЕНИЯ СТОЛКНОВЕНИЙ ДЛЯ ТРАНСПОРТНОГО СРЕДСТВА

Изобретение предназначено для предупреждения столкновений транспортных средств. При контроле окружающего пространства получают исходное состояние для одного первого находящегося в окружающем пространстве (14) объекта (18) как ориентира при первом событии остановки, причем исходное состояние включает указание исходного положения одного первого объекта (18). Определяют (S2) при последующем втором событии остановки (S1), переместилось ли транспортное средство (10) между первым и вторым событиями остановки на заданное минимальное расстояние и/или прошло ли заданное минимальное время. Актуализируют (S3) исходное состояние посредством указания положения по меньшей мере одного второго находящегося в окружающем пространстве (14) объекта (18) как ориентира, если установлено, что между первым и вторым событиями остановки транспортное средство (10) переместилось на расстояние, превышающее заданное минимальное значение, и/или что прошло время, превышающее заданное минимальное значение. Определяют ( ...

ОПЕРАТИВНОЕ УПРАВЛЕНИЕ АВТОНОМНЫМ ТРАНСПОРТНЫМ СРЕДСТВОМ

Изобретение относится к оперативному управлению автономным транспортным средством. Способ оперативного управления автономным транспортным средством при перемещении по сети движения транспортных средств содержит этап, на котором осуществляют перемещение посредством автономного транспортного средства по сети движения транспортных средств. Перемещение по сети движения транспортных средств включает в себя этапы, на которых осуществляют работу экземпляра модуля оценки оперативного управления для конкретного сценария, причем экземпляр модуля оценки оперативного управления для конкретного сценария представляет собой экземпляр модуля оценки оперативного управления для конкретного сценария, созданный для отдельного оперативного сценария транспортного средства, принимают возможное действие по управлению транспортным средством от экземпляра модуля оценки оперативного управления для конкретного сценария и осуществляют перемещение по участку сети движения транспортных средств на основе возможного действия ...

УПРАВЛЕНИЕ ОПЕРАТИВНЫМ УПРАВЛЕНИЕМ АВТОНОМНЫМ ТРАНСПОРТНЫМ СРЕДСТВОМ

Изобретение относится к способу перемещения по сети движения транспортных средств. Способ для использования при перемещении по сети движения транспортных средств содержит этап, на котором осуществляют перемещение посредством автономного транспортного средства по сети движения транспортных средств. Автономное транспортное средство содержит контроллер оперативного управления, принимающий от датчика автономного транспортного средства информацию, соответствующую внешнему объекту в пределах заданного расстояния от автономного транспортного средства, определяющий отдельный оперативный сценарий транспортного средства в ответ на прием информации, создающий экземпляр модуля оценки оперативного управления для конкретного сценария, принимающий возможное действие по управлению транспортным средством от экземпляра модуля оценки оперативного управления для конкретного сценария и управляющий автономным транспортным средством для перемещения по участку сети движения транспортных средств на основе возможного ...

СПОСОБ УПРАВЛЕНИЯ ПАРКОВКОЙ И ОБОРУДОВАНИЕ УПРАВЛЕНИЯ ПАРКОВКОЙ

Изобретение относится к системам помощи при парковке транспортным средством. Способ управления парковкой для управления транспортным средством для парковки на основе рабочей команды, полученной изнутри или извне транспортного средства. Способ управления парковкой содержит этапы, на которых выполняют определение того, присутствует или нет пассажир в салоне транспортного средства, и когда выполняется определение того, что пассажир не присутствует в салоне транспортного средства, управляют транспортным средством таким образом, что время операции парковки сокращается по сравнению с тем, когда выполняется определение того, что пассажир присутствует в салоне транспортного средства. Достигается повышение безопасности парковки транспортного средства. 2 н. и 13 з.п. ф-лы, 14 ил.

ИЗБЕГАНИЕ СТОЛКНОВЕНИЙ ТРАНСПОРТНЫХ СРЕДСТВ

ПРЕДУПРЕЖДЕНИЕ СТОЛКНОВЕНИЯ ТРАНСПОРТНЫХ СРЕДСТВ

ТРАНСПОРТНОЕ СРЕДСТВО, СПОСОБ УПРАВЛЕНИЯ ТРАНСПОРТНЫМ СРЕДСТВОМ И КОМПЬЮТЕРНО-ЧИТАЕМЫЙ НОСИТЕЛЬ

СПОСОБ УПРАВЛЕНИЯ ДВИЖЕНИЕМ ТРАНСПОРТНОГО СРЕДСТВА И УСТРОЙСТВО УПРАВЛЕНИЯ ДВИЖЕНИЕМ ТРАНСПОРТНОГО СРЕДСТВА

СИСТЕМА И СПОСОБ ДЛЯ УМЕНЬШЕНИЯ СТОЛКНОВЕНИЙ ТРАНСПОРТНЫХ СРЕДСТВ

УСТРОЙСТВО ПОМОЩИ ПРИ ВОЖДЕНИИ

... 1. Устройство помощи при вождении, отличающееся тем, что содержит:блок (21) распознавания мертвой зоны, который распознает мертвую зону, которая не видна водителю в направлении продвижения базового транспортного средства;блок (22) установки информации о движущемся теле, который устанавливает в качестве информации, которая относится к движущемуся телу, которое может выскочить из мертвой зоны, информацию о движущемся теле, включающую в себя, по меньшей мере, предполагаемую скорость движущегося тела;блок (23) вычисления области скорости, который вычисляет на основании информации о движущемся теле, установленной блоком (22) установки информации о движущемся теле, область скорости базового транспортного средства, при этом область скорости является областью, в которой базовое транспортное средство может контактировать с движущимся телом, когда базовое транспортное средство движется в направлении продвижения; иблок (24) вычисления целевой скорости, который вычисляет целевую скорость базового транспортного ...

СПОСОБ И СИСТЕМА ДЛЯ ВИРТУАЛЬНОГО ПУТИ ДЛЯ РУЛЕНИЯ

УПРАВЛЕНИЕ ЧЕЛОВЕКО-МАШИННЫМ ИНТЕРФЕЙСОМ ТРАНСПОРТНОГО СРЕДСТВА

СПОСОБ И СИСТЕМА ФОРМИРОВАНИЯ МОДЕЛЕЙ УПРАВЛЕНИЯ НА ОСНОВЕ ОБРАТНОЙ СВЯЗИ ДЛЯ АВТОНОМНОГО ТРАНСПОРТНОГО СРЕДСТВА

СИСТЕМА ПРЕДОТВРАЩЕНИЯ И УМЕНЬШЕНИЯ ПОСЛЕДСТВИЙ ЗАДНЕГО СТОЛКНОВЕНИЯ

Способ и система для управления работой самоуправляемого автомобиля

Sicherheitssystem für ein Fahrzeug mit einer individuell an einen Fahrer anpassten Sicherheitsfunktion

Die Erfindung betrifft ein Sicherheitssystem (1) für ein Fahrzeug (2), das Sicherheitssystem (1) aufweisend zumindest eine Steuereinheit (4) mit einer Sicherheitsfunktion (11), wobei die Steuereinheit (4) ausgebildet und eingerichtet ist, einen Ausgabewert (111) der Sicherheitsfunktion (11) in Abhängigkeit von einem Wert eines ersten Parameters (113) der Sicherheitsfunktion (11) und in Abhängigkeit von von einem Objekt (3) in einer Umgebung des Fahrzeugs (2) ausgesendeten Daten (202) zu ermitteln, wobei der Wert des ersten Parameters (113) an eine individuelle fahrerbezogene Information (101) angepasst ist und das Sicherheitssystem (1) in dem Fahrzeug (2) unter Einwirkung des Ausgabewertes (111) der Sicherheitsfunktion (11) auf zumindest eine Sicherheitskomponente (6) des Fahrzeugs (2) betreibbar ist.

Verfahren zur frühzeitigen Erkennung von potentiellen Gefahren im Straßenverkehr

Es wird ein Verfahren zur Entschärfung von Gefahrensituation im Straßenverkehr beschrieben. Das Verfahren umfasst das Ermitteln von Umfelddaten bezüglich eines Umfeldes eines Ego-Fahrzeugs. Desweiteren umfasst das Verfahren das Bestimmen, auf Basis der Umfelddaten, dass sich ein Verkehrsteilnehmer im Umfeld des Ego-Fahrzeugs in einer Konfliktsituation mit einem Objekt im Umfeld des Ego-Fahrzeugs befindet. Außerdem umfasst das Verfahren das Ermitteln einer Maßnahme, die das Ego-Fahrzeug ausführen kann, um der Konfliktsituation entgegenzuwirken.

Gefahrerkennung bei beabsichtigtem Spurwechsel

Verfahren (100) zur Ermittlung des Gefährdungspotentials eines Spurwechsels eines Ego-Fahrzeugs (1) von der aktuell benutzten Fahrspur (2a, 2b, 2c) in eine benachbarte Fahrspur (2a, 2b, 2c), wobei ein Erfassungsbereich (3) im Außenraum des Ego-Fahrzeugs (1) beobachtet wird (110) und wobei die Auswirkung von im Erfassungsbereich (3) erkannten Objekten (4) auf das Gefährdungspotential ausgewertet wird (120), wobei aus Positionen und Geschwindigkeiten von im Erfassungsbereich 3 erkannten Innen-Fremdfahrzeugen (4) ausgewertet wird (130), ob ein Zielgebiet (5), in dem sich das Ego-Fahrzeug (1) nach dem beabsichtigten Spurwechsel befindet, für außerhalb des Erfassungsbereichs (3) befindliche Außen-Fremdfahrzeuge (6) erreichbar ist.Verfahren (200) zur zumindest teilautomatisierten Steuerung eines Ego-Fahrzeugs (1), wobei bei einem beabsichtigten Spurwechsel das Gefährdungspotential dieses Spurwechsels mit dem Verfahren (100) gemäß der Erfindung bewertet wird (210), wobei der Spurwechsel unterbunden ...

DREHMOMENTBASIERTE FAHRZEUGPFADVORHERSAGE

Ein Lenksystem umfasst einen Motor und einen Prozessor, der ausgestaltet ist, um ein Verfahren durchzuführen. Das Verfahren umfasst, dass durch einen Prozessor ein vorhergesagter Lenkwinkel zu einem zukünftigen Zeitschritt berechnet wird. Das Verfahren umfasst ferner, dass durch den Prozessor eine vorhergesagte Fahrzeugposition zu dem zukünftigen Zeitschritt basierend auf dem vorhergesagten Lenkwinkel ermittelt wird. Das Verfahren umfasst ferner, dass durch den Prozessor eine Nähe zu einem Objekt zu dem zukünftigen Zeitschritt basierend auf der vorhergesagten Fahrzeugposition detektiert wird. Das Verfahren umfasst ferner, dass durch den Prozessor in Ansprechen darauf, dass die Nähe unterhalb eines vorbestimmten Schwellenwerts liegt, ein Einschreitungssignal erzeugt wird.

Bremskraftsteuerungsvorrrichtung für ein Fahrzeug

Bei einer Bremskraftsteuerungsvorrichtung, die eine Bremskraft, die auf ein Fahrzeug aufgebracht wird, basierend auf einer Beziehung von diesem mit einem Hindernis vor dem Fahrzeug steuert, unabhängig von einer Bremsoperation eines Fahrers, wird eine Querkraft vorhergesagt, die in Fällen erzeugt werden kann, in denen eine Ausweichlenkung durch den Fahrer durchgeführt wird, um einem Hindernis, das erfasst wurde, auszuweichen, und wird eine tatsächliche Bremskraft, die in einer Längsrichtung des Fahrzeugs aufgebracht wird, gemäß einer Bremskraft, die in der Längsrichtung des Fahrzeugs aufgebracht werden kann und die basierend auf der vorhergesagten Querkraft berechnet wird, beschränkt. Dementsprechend wird bei der Bremskraftsteuerungsvorrichtung, die die Bremskraft des Fahrzeugs steuert, die Querkraft zum Vermeiden einer Kollision mit dem Hindernis mittels eines Lenkens erhalten.

Verfahren zur Steuerung des Betriebs eines vollautomatischen, zur unabhängigen Fahrzeugführung ausgebildeten Fahrerassistenzsystems eines Kraftfahrzeugs und Kraftfahrzeug

FAHRZEUG UND VERFAHREN ZUM STEUERN DESSELBEN

Ein Fahrzeug und ein Verfahren zum Steuern desselben sind vorgesehen, um eine Steuerungsstartzeit eines (ADAS) eines Fahrzeugs vorzuverlegen. Das Fahrzeug umfasst eine Bilderfassungsvorrichtung, die ein Objekt unter Verwendung eines Bildes des in einem Randbereich eines Fahrzeugs befindlichen Objekts erfasst, und einen Erfassungssensor, der Positionsinformation und des Objekts und Geschwindigkeitsinformationen des Objekts erlangt. Eine Eingabe empfängt einen Befehl zum Starten des ADAS und eine Steuerung startet das ADAS, wenn eine Fahrumgebung und ein Fahrzustand des Fahrzeugs eine vordefinierte Bedingung erfüllen. Eine Warnungsstartzeit des ADAS wird eine vorgegebene Zeitdauer nach einem Starten des Betriebs des ADAS vorverlegt und ein Betriebsfreigabe-Referenzwert zum Freigeben des Betriebs des ADAS wird derart eingestellt, dass er größer als ein vorgegebener Wert ist.

Vehicle path prediction and obstacle indication system and method

Vehicle collision avoidance

Navigation aid

System and method for collaborative vehicle crash planning and sequence deployment

Accident attenuation systems and methods

Various systems and methods are disclosed to mitigate potential accidents. In one implementation, a method determines a speed of a second vehicle approaching from behind a first vehicle and determines a distance between the first and second vehicles. The method determines whether the second vehicle can stop before colliding with the first vehicle. If the second vehicle cannot stop before colliding with the first vehicle, the method takes action to attenuate the potential collision by applying full brake force of the first vehicle, tightening seat belts, and/or turning the front wheels of the first vehicle to direct the first vehicle away from oncoming traffic. Action to attenuate a collision may be based on a geographic location of the first vehicle determined using a GPS system. A further method comprises determining whether the second vehicle can stop before colliding with the first vehicle; identifying any oncoming traffic; and if the second vehicle cannot stop and there is no oncoming ...

Collision mitigation and avoidance

A time to collision 510 is determined between a turning host vehicle and each of a plurality of targets 505. Based on a lateral distance and a longitudinal distance, a minimum distance 520 is determined between the turning host vehicle and each of the plurality of targets. A threat number is determined 530 for each target selected based on the time to collision and the minimum distance. A vehicle component is actuated based on the threat number 535. The actuation may occur when the threat or risk number is over a threshold value. The minimum distance may be based on the velocity and acceleration of the target or the turn rate of the host vehicle. It may also be based on a predicted distance between the host vehicle and the targets over a predetermined time period. This can be used to mitigate collisions, especially at intersections.

Apparatus and method for controling a process

A system and method for assessing the interior of an autonomous vehicle

A vehicle comprises an interior Infrared (IR) camera and optionally a visible light camera. Images of an interior of the vehicle are captured using the cameras both before 302 and after 308 a passenger rides in the vehicle. The IR images from before and after are subtracted to obtain a difference image 310. Pixels above a threshold intensity may be clustered 312. Clusters having an above-threshold size are determined to be anomalies 314. Portions of images from the visible light camera corresponding to the anomalies are sent to a dispatcher 318, who may then clear the vehicle to pick up another passenger 320 or proceed to a cleaning station. Anomalies may be identified based on a combination of the IR images and visible light images. The system is particularly intended for use in an autonomous vehicle, where anomalies such as a spilled liquid can be detected remotely prior to the vehicle picking up the next occupant.

Projection apparatus

A projection system used in a vehicle park assist system, the projection system projects a trajectory indicator to provide a visible representation of a vehicle trajectory. The projection system comprises a parking beacon 5 having a light source 29 operable to emit light and image forming means 30 for forming the trajectory indicator 31 and a parking location indicator 26. A processor (34, fig 2) is provided for controlling the image forming means 30. The processor (34) is configured to determine a vehicle trajectory and, in dependence on the determined vehicle trajectory, to control the image forming means 30 to control the light emitted from the light source 29 to form the trajectory indicator 31. The projection system may be part of a park assist system for a vehicle towing, for example, a trailer. Reference is also made to a vehicle, a parking beacon and a method.

System and method for collaborative vehicle crash planning and sequence deployment

Vehicle path prediction and obstacle indication system and method

Autonomous vehicle operation using linear temporal logic

A method of using one or more processors of a vehicle to store (1904) a Kripke structure representing a motion segment for operating the vehicle, wherein the motion segment comprises a plurality of spatiotemporal locations. For each spatiotemporal location of the plurality of spatiotemporal locations, a linear temporal logic expression based on the Kripke structure is evaluated (1908), wherein the linear temporal logic expression defines an operating constraint for operating the vehicle in accordance with the motion segment; responsive to a value of the linear temporal logic expression changing at the spatiotemporal location, a location marker within the Kripke structure is inserted (1912) at the spatiotemporal location to divide the motion segment into two different motion segments; an operational metric is assigned (1916) to each motion segment of the two different motion segments based on the location marker; and a trajectory for operating the vehicle based on the operational metric ...

Method for displaying and/or calculating a relative movement

Verfahren zum Anzeigen und/oder Berechnen einer Relativbewegung eines zweiten bewegten Objektes (21) zu einem ersten bewegten Objekt (20), wobei aus einer abgelaufenen ersten Positionsänderung (10) eine zukünftige erste Positionsänderung (14) des ersten Objektes (20) berechnet wird, und wobei aus einer abgelaufenen zweiten Relativpositionsänderung (11) eine zukünftige zweite Relativpositionsänderung (12) des zweiten Objektes (20) berechnet wird, welche zukünftige erste Positionsänderung (14) mit der zukünftigen zweiten Relativpositionsänderung (14) verglichen wird.

Improvements in vehicle speed control

Some embodiments of the invention provide a speed control system (10, 12) for a vehicle (100), comprising: torque control means (12) for automatically causing application of positive and negative torque, as required, to one or more wheels (111, 112, 114, 115) of a vehicle (100) to cause a vehicle (100) to travel in accordance with a target speed value; path prediction means (10) for predicting a path PP of the vehicle (100) in a direction of travel; detection means (10) for detecting one or more objects (195) ahead of the vehicle (100); determining means (10) to determine whether one or more objects (195) detected by the detection means (10) lie outside the predicted path (PP); and control means (12) configured to, if said one or more detected objects (195) are determined to lie outside the predicted path (PP), automatically temporarily reduce the vehicle speed in dependence at least in part on a distance of the one or more detected objects (195) from the predicted path (PP).

NONLINEAR ACTIVE BRAKING CONTROLLER: OPTIMAL SLIP AND TRACTION MODELLING APPROACH

Active brake control systems are able to use more accurate control designs on the real-time knowledge of wheel slip such as tire braking forces and external momentums. A multi-objective trade off optimization approach is used to evaluate the inconsistent points of the optimization design namely those of minimizing the directional deviation while achieving maximum braking forces on wheels. Moreover, the optimal target slip values defined by the braking purposes like as shorter stopping distance and stability increment by keeping the vehicle in the straight line. This gets by the control of the longitudinal and lateral slip dynamics of each wheel concerning to the road conditions. A controller is optimally brought up by manipulating optimal control law with weights of two control inputs with mathematical and analytical characterization. The possibility of critical response levels is used to directly control the vehicle directional stability. An impressive simulation technique based on nonlinear ...

AUTONOMOUS VEHICLE OPERATIONAL MANAGEMENT

Autonomous vehicle operational management may include traversing, by an autonomous vehicle, a vehicle transportation network. Traversing the vehicle transportation network may include generating an autonomous vehicle operational control environment for operating scenario-specific operational control evaluation module instances. A scenario-specific operational control evaluation module instance may be an instance of a respective scenario-specific operational control evaluation module. A scenario-specific operational control evaluation module may model a respective distinct vehicle operational scenario. A scenario-specific operational control evaluation module instance may generate a respective candidate vehicle control action responsive to the respective corresponding distinct vehicle operational scenario. Traversing the vehicle transportation network may include operating a scenario-specific operational control evaluation module instance, receiving a first candidate vehicle control action ...

Driver assistance system and methods for collision avoidance

Vehicle driving support apparatus

The present invention provides a vehicle driving support apparatus that suppresses a pitching vibration, which is generated before and after a vehicle stops when the automatic braking is operated, without additionally mounting a special sensor, thereby reducing an uncomfortable feeling given to a passenger, and providing good ride comfort. A pressure reduction start distance Pd is obtained (S9) based upon a deceleration Gw after an operation of an automatic brake. When an obstacle-to-vehicle distance L between a vehicle (1) and an obstacle ahead becomes a distance obtained by adding the pressure reduction start distance Pd to a target stopping distance Ls to the obstacle ahead, the reduction of the brake pressure is started (S11) to suppress a pitching vibration generated before and after the vehicle (1) stops. When the obstacle-to-vehicle distance L becomes a stopping brake start distance p that is just before the target stopping distance Ls, the brake pressure is increased (S13) so as ...

Assessing U-turn feasibility

METHOD DRIVER WARNING RISK OF COLLISION

브레이크 작동을 위한 주행해야 할 거리의 결정을 포함하여 자동차를 조종하기 위한 방법, 제어 유닛, 운전자 보조 시스템, 및 자동차

... 본 발명은, 자동차(1)를 조종하기 위한 궤적이 결정되고, 해당 궤적을 따라 자동차(1)를 조종하는 동안, 해당 궤적의 전환점까지의 거리를 기술하는 통지 거리(DTH) 및 자동차(1)의 주위(7)에 있는 물체(8)까지의 거리를 기술하는 충돌 거리(DTC)가 결정되고, 통지 거리(DTH) 및 충돌 거리(DTC)에 기초하여, 자동차(1)의 브레이크 시스템의 작동시까지 주행해야 할 거리(R)가 결정되는, 자동차(1)를 조종하기 위한 방법에 관한 것으로서, 통지 거리(DTH)의 시간 곡선에 있어서의 변경에 기초하여, 수정된 통지 거리(DTHk)가 계속적으로 결정되고, 충돌 거리(DTC)의 시간 곡선에 있어서의 변경에 기초하여, 수정된 충돌 거리(DTCk)가 계속적으로 결정되고, 수정된 통지 거리(DTHk) 및 수정된 충돌 거리에 기초하여 주행해야 할 거리(R)가 결정된다.

METHOD AND APPARATUS OF PREDICTING COLLISION EMERGENCY FOR OMNIDIRECTIONAL APPLICATION IN EMERGENCY BRAKE SYSTEM

The present invention relates to a method and an apparatus for predicting a collision emergency, calculating related information (TTI, TTE, TTAI, TTAE, TTC or the like) on a previously defined intrusion time and deviation time by using the drive route of a target vehicle and the drive route of a subject vehicle and determining various types of collisions depending on the corresponding collision flag to cope with a collision by determining the risk of collision and collision type with respect to the target vehicle in an expanded range including a crossing vehicle, an oncoming vehicle, a collision vehicle or the like as well as an advanced vehicle in an emergency brake system such as an advanced emergency brake (AEB). COPYRIGHT KIPO 2016 (110) Subject vehicle route prediction part (121) Trace target route prediction part (122) Trace information calculation part (123) Collision determining part ...

VEHICLE AND METHOD FOR CONTROLLING THEREOF

ASSISTING A MOTOR VEHICLE DRIVER IN NEGOTIATING A ROUNDABOUT

METHOD AND DEVICE FOR DISCONNECTING THE VOLTAGE OF A HIGH VOLTAGE NETWORK OF AN ELECTRIC VEHICLE

The present invention relates to a method for disconnecting the voltage of a high voltage network (15) of an electric vehicle (1), comprising the following method steps: acquiring (S1) sensor data using at least one sensor device (11) of the electric vehicle (1); comparing (S2) the acquired sensor data with at least one predetermined criterion stored in a memory device (13), in order to determine a probability value for the occurrence of an accident of the electric vehicle (1); and discharging (S3) the high voltage network (15) of the electric vehicle (1) as a function of the determined probability value.

TRAVEL SUPPORT APPARATUS

A travel support apparatus includes: a rear sensor (12) that detects an obstacle behind a vehicle (11); and a rear contact prevention device (20) that controls travel of the vehicle (11) to prevent contact between the vehicle (11) and the obstacle detected by the rear sensor (12) as the vehicle (11) backs up. The rear contact prevention device (20) prevents contact between the vehicle (11) and the obstacle detected by the rear sensor (12) as the vehicle (11) backs up, by performing first travel control to apply at least one of speed limitation and deceleration to the vehicle (11), without requiring an operation performed by a driver of the vehicle (11), and then performs second travel control to reduce an operation amount set in the first travel control.

DRIVING ASSISTANCE DEVICE

A driving assistance device includes processing circuitry to acquire host vehicle information, receive mobile object information from a mobile object outside the host vehicle using wireless communication, determinate a right or left turn of the host vehicle based on the host vehicle information, obtain a prediction point by calculating a right or left turn point of the host vehicle based on the host vehicle information, determine whether or not the host vehicle collides with the mobile object using the host vehicle information, the mobile object information, and the prediction point, and perform driving assistance of the host vehicle based on a result of the collision determination. The processing circuitry obtains the prediction point by calculating, on a basis of a preset deceleration, a distance required for the speed of the host vehicle HV included in the host vehicle information to reach a target speed set in advance. 18-. (canceled)9. A driving assistance device comprising:processing circuitryto acquire host vehicle information that is vehicle information of a host vehicle,to receive mobile object information from a mobile object outside the host vehicle using wireless communication,to determinate a right turn or left turn of the host vehicle on a basis of the host vehicle information,to obtain a prediction point by calculating a right turn or left turn point of the host vehicle on a basis of the host vehicle information,to determine whether or not the host vehicle collides with the mobile object using the host vehicle information, the mobile object information, and the prediction point, andto perform driving assistance of the host vehicle on a basis of a result of the collision determination, whereinthe processing circuitry obtains the prediction point by calculating, on a basis of a preset deceleration, a distance required for the speed of the host vehicle HV included in the host vehicle information to reach a target speed set in advance.10. The driving ...

METHOD AND APPARATUS FOR OBJECT IDENTIFICATION USING NON-CONTACT CHEMICAL SENSOR

A method and apparatus that identify a composition of an object using a non-contact chemical sensor provided. The method includes detecting an object based on information provided by a plurality of sensors, transmitting a chemical detection signal, from a non-contact chemical sensor, at the detected object, identifying a composition of the detected object based on an attenuation of the chemical detection signal, determining whether a path change is required based on the identified composition of the detected object, and controlling one or more actuators to stop a vehicle or adjust the path of the vehicle if the path change is required.

Polyline contour representations for autonomous vehicles

Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode or an autonomous vehicle. For instance, a polygon representative of the shape and location of a first object may be received. A polyline contour representation of a portion of a polygon representative of the shape and location of a second object may be received. The polyline contour representation may be in half-plane coordinates and including a plurality of vertices and line segments. Coordinates of the polygon representative of the first object may be converted to the half-plane coordinate system. A collision location between the polyline contour representation and the polygon representative of the first object may be determined using the converted coordinates. The autonomous vehicle may be controlled in the autonomous driving mode to avoid a collision based on the collision location.

Apparatus and method for controlling driving of vehicle

An apparatus for controlling driving of a vehicle is provided. The apparatus includes: a sensor to sense an environment outside of the vehicle, a positioning device to measure a current position of the vehicle, and a controller to calculate a first weighted time to collision with another vehicle using an accident severity index obtained based on the environment outside the vehicle and the current position of the vehicle and to control collision avoidance based on the calculated first weighted time to collision. The apparatus performs strong control to avoid a collision in an external environment incapable of being sensed by a sensor, thus reducing occurrence of an accident of the vehicle and damage due to the accident of the vehicle.

DRIVING ASSIST APPARATUS

Disclosed is a driving assist apparatus which executes a process for collision avoidance when the possibility of collision of a vehicle with an obstacle is high. When the steering angle of the steering wheel is greater than an angle threshold, the apparatus determines that a driver is trying to avoid the collision by operating the steering wheel and does not execute the collision avoidance process. When the vehicle is making a right turn or a left turn, there arises a possibility that the collision avoidance process is not executed even in a situation where the collision avoidance process must be executed. In view of this, when the vehicle is making a right turn or a left turn, the angle threshold mentioned above is set to a larger value as compared with the case where the vehicle is not making a right turn or a left turn.

Trailer type identification system

A trailer type identification system is provided herein. The system includes an imaging device for capturing images of a trailer connected to a vehicle, and a controller for analyzing the captured. The controller identifies vehicle and trailer contours, predicts a trailer type based on detection of a connection between the identified vehicle and trailer contours, and validates the prediction if the identified trailer contour exhibits motion during a vehicle turn event.

RESPONSIVE VEHICLE CONTROL

Acceleration determination for controlling a vehicle, such as an autonomous vehicle, is described. In an example, objects in an environment of the vehicle are identified and a probability that each object will impact travel of the vehicle is determined. Individual accelerations for responding to each object may also be determined. Weighting factors for each of the accelerations may also be determined based on the probabilities. A control acceleration may be determined based on the weighting factors and the accelerations.

RECOGNITION AND PREDICTION OF LANE CONSTRAINTS AND CONSTRUCTION AREAS IN NAVIGATION

Systems and methods use cameras to provide autonomous and/or driver-assist navigation features. In some implementations, techniques for predicting the location of first roadway lane constraints are provided. The system may receive multiple images of a roadway in a vicinity of a vehicle, recognize a first roadway lane constraint, and, when lane prediction conditions are determined to be satisfied, predict a location of a second roadway lane constraint. In some implementations, techniques for detecting and responding to construction zones are provided. The system may receive multiple images of a roadway in a vicinity of a vehicle, recognize indicators of a construction zone in the images, determine that the vehicle is proximate to a construction zone, and output a signal indicating that the vehicle is proximate to a construction zone ...

VEHICLE AND METHOD OF CONTROLLING THE SAME

A vehicle providing safe autonomous driving by predicting driving of surrounding vehicles based on a relationship between surrounding vehicles is provided. The vehicle includes a sensing device that obtains position information of a first vehicle and a second vehicle and a driver. A controller determines a mutual positional relationship between the second vehicle and the first vehicle based on the position information and determines an expected driving path of the first vehicle based on a relative speed of the first vehicle and the second vehicle and the mutual positional relationship. The driver is operated to maintain a collision avoidance or a safe distance from the first vehicle based on the expected driving path.

Side collision avoidance system and method for vehicle

A side collision avoidance system and method for a vehicle combines data from radar sensors mounted on front and rear surfaces of the vehicle with data from ultrasonic sensors mounted on side surfaces of the vehicle, and detects obstacles on the basis of the combined data, so as to increase accuracy in the detection of obstacles and predict the probability of collisions with obstacles with high accuracy. The system includes: radar sensors detecting an obstacle around the vehicle; ultrasonic sensors detecting the obstacle around the vehicle; a controller combining sensor data from the radar sensors with sensor data from the ultrasonic sensors to generate combined data, detecting the obstacle on the basis of the combined data, and predicting collision or non-collision with the detected obstacle on the basis of the combined data; and a brake driver braking the vehicle when the collision is predicted.

DRIVING ASSISTANCE SYSTEM

A driving assistance system is configured to include: a map database; a vehicle position recognition unit; an external environment recognition unit; a road environment recognition unit; an explicit risk determination unit; a vehicle behavior risk margin calculation unit configured to calculate a vehicle behavior risk margin when it is determined that an explicit risk is present; a road environment risk margin calculation unit configured to calculate a road environment risk margin from the road environment using data in which a risk evaluation value relating to a latent risk accompanying the explicit risk and the road environment are associated with each other in advance, if the explicit risk determination unit determines that the explicit risk is present; and a driving assistance switching unit configured to perform switching whether to perform the driving assistance relating to the latent risk based on the road environment risk margin and the vehicle behavior risk margin.

Relative Position Tracking Using Motion Sensor With Drift Correction

A method is provided for calculating a position and/or orientation of a first object relative to a second object. The method includes receiving a first object initial absolute position. The method includes sensing, using a first IMUs, motion of the first object and generating sensed motion data of the first object. The method includes generating, using the controller, a motion signal representative of the motion of the first object. The method includes calculating, using the controller, a first object current absolute position using the motion signal and the first object initial absolute position. The method includes receiving, from the second object, a second object current absolute position calculated using a second IMUs associated with the second object. The method includes calculating a relative position and/or orientation of the first object relative to the second object using the first object current absolute position and the second object current absolute position.

Traffic safety control method, vehicle-mounted device and readable storage medium

A traffic safety control method is provided. The method includes obtaining first related information of a road when a vehicle is traveling on a road. Second related information is detected using a detecting device of the vehicle when the first related information indicates that there is the intersection in front of the vehicle on the road. The vehicle is controlled according to the first related information and the second related information.

SYSTEMS AND METHODS TO ISSUE WARNINGS TO ENHANCE THE SAFETY OF BICYCLISTS, PEDESTRIANS, AND OTHERS

Systems and methods for triggering and issuing safety warnings, including a risk-assessment system that collects movement data pertaining to each of a plurality of subsystems including one or more slow-moving subsystems (SMSSs) and/or one or more fast-moving subsystems (FMSSs). The risk-assessment system identifies, based at least in part on the collected movement data, an instance in which each of a set of warning-triggering conditions is true. The set includes (i) that a likelihood of a collision occurring among an identified subset of the plurality of subsystems is greater than a collision-probability threshold and (ii) that at least one of the subsystems in the identified subset has at least one current movement anomaly. In response to identifying the instance, the risk-assessment system issues at least one warning to at least one of the subsystems in the identified subset.

Vehicular control system with autonomous braking

A vehicular vision system includes a camera and a radar sensor disposed at the equipped vehicle. The system includes an electronic control unit (ECU) and, as the equipped vehicle travels along a road, the ECU, via processing of image data and processing of sensor data, determines other vehicles present on the road ahead of the equipped vehicle. The ECU, responsive to determining the presence of a plurality of other vehicles present on the road, fuses the image data captured by the camera and the sensor data captured by the radar sensor. The ECU, based on the fused data, determines a threat level for each vehicle of the plurality of other vehicles and, when the threat level for one or more vehicles of the plurality of other vehicles exceeds a threshold value, generates a braking command. The ECU transmits the braking command to a braking system of the equipped vehicle.

Method for automatic longitudinal guidance of a vehcile including Adaptive Cruise Control

Verfahren zur automatischen Längsführung eines Kraftfahrzeugs umfassend ein adaptives Längsführungssystem (ACC-System), wobei seitens einer Steuerungseinrichtung des Längsführungssystems Informationen betreffend die Abstände zu mehreren vorausfahrenden Kraftfahrzeugen, betreffend die jeweiligen Geschwindigkeiten dieser Kraftfahrzeuge und betreffend die jeweilige Beschleunigung dieser Kraftfahrzeuge erfasst wird und in Abhängigkeit der erfassten Informationen die Längsführung des Kraftfahrzeugs erfolgt.

Method for operating a driver assistance system in a motor vehicle and motor vehicle

Verfahren zum Betrieb eines Fahrerassistenzsystems, insbesondere Unfallvermeidungssystems, in einem Kraftfahrzeug, wobei aus technischen Daten des Kraftfahrzeugs, den aktuellen Fahrzustand beschreibenden Messdaten, die Straßenbeschaffenheit beschreibenden Messdaten und die Umgebung des Kraftfahrzeugs, insbesondere den Straßenverlauf, beschreibenden Daten wenigstens ein den aktuellen physikalischen Grenzbereich des Kraftfahrzeugs beschreibender Grenzwert einer Fahrzustandsgröße sowie ein daraus abgeleiteter, innerhalb des physikalischen Grenzbereichs liegender Warnwert ermittelt wird, wobei der aktuelle Wert der wenigstens einen Fahrzustandsgröße ermittelt wird und bei zwischen dem Warnwert und dem Grenzwert liegender Fahrzustandsgröße eine Warnung an einen Fahrer ausgegeben wird.

VEHICLE TRAVELING CONTROL METHOD, ELECTRONIC DEVICE, STORAGE MEDIUM, CHIP AND VEHICLE

The disclosure relates to the technical field of vehicle engineering, in particular to a vehicle traveling control method, an electronic device, a storage medium, a chip and a vehicle. The vehicle traveling control method includes: determining (S11) predicted motion features of a to-be-avoided object within a perception visual field of a vehicle; determining (S12) a safety level of the to-be-avoided object relative to the vehicle according to the predicted motion features and preset safety conditions; and determining (S13) a target deceleration of the vehicle according to an attribute feature of the to-be-avoided object and the corresponding safety level, and controlling traveling of the vehicle according to the target deceleration.

УСТРОЙСТВО И СПОСОБ ОЦЕНКИ РИСКОВ АВАРИЙ ДЛЯ ДВИЖУЩЕГОСЯ ТРАНСПОРТНОГО СРЕДСТВА

Заявленное изобретение относится к методам оценки рисков аварий. Предложен способ оценки рисков аварий для движущегося транспортного средства являющегося любым из грузового автомобиля, автобуса или легкового автомобиля. Способ включает в себя этапы, на которых непрерывно осуществляют контроль конфигурации окружающей обстановки, когда упомянутое транспортное средство находится в движении, и непрерывно определяют рабочие характеристики для транспортного средства. Также непрерывно регистрируют конфигурацию окружающей обстановки для обработки и сохранения изображений в памяти для создания и выдачи представления о выбираемых характеристиках окружающей обстановки, проходимой транспортным средством. Упомянутые рабочие характеристики и упомянутое представление используют как основу для оценки рисков аварий применительно к окружающей обстановке, проходимой транспортным средством. Достигается повышение эффективности оценки рисков аварий. 4 н. и 8 з.п. ф-лы, 7 ил.

СИСТЕМА И СПОСОБ УМЕНЬШЕНИЯ ПОСЛЕДСТВИЙ И ПРЕДОТВРАЩЕНИЯ СТОЛКНОВЕНИЙ

Изобретение относится системам безопасности транспортного средства. Система уменьшения последствий и предотвращения столкновений содержит компьютер, включающий процессор и запоминающее устройство, хранящее инструкции, исполняемые процессором. Инструкции, исполняемые процессором, содержат этапы определения времени до столкновения и, на основе поперечного расстояния и продольного расстояния, минимального расстояния между поворачивающим рассматриваемым транспортным средством и каждой из множества целей, последующего выбора цели из множества целей на основе времени до столкновения и минимального расстояния, определения коэффициента угрозы для выбранной цели и приведения в действие компонента транспортного средства на основе коэффициента угрозы. Достигается повышение безопасности управления транспортным средством 2 н. и 18 з.п. ф-лы, 5 ил.

СИСТЕМА ПОДДЕРЖКИ РУЛЕВОГО УПРАВЛЕНИЯ

Изобретение относится к системе поддержки рулевого управления. Система поддержки рулевого управления содержит: блок контроля периферии, блок распознавания полосы, блок поддержки управления при смене полосы, блок определения состояния выполнения смены полосы, блок остановки поддержки смены полосы движения, выполненный с возможностью остановки поддержки управления при смене полосы, когда блок контроля периферии определяет приближающееся транспортное средство, блок поддержки управления возвратом по центру, выполненный с возможностью выполнения поддержки управления возвратом по центру, когда поддержка управления при смене полосы остановлена в первой части смены полосы, блок поддержки управления предотвращением столкновения, выполненный с возможностью выполнения поддержки управления предотвращением столкновения, когда поддержка управления при смене полосы движения остановлена во второй части смены полосы. Обеспечивается поддержка рулевого управления при смене полосы для повышения безопасности ...

КОНТРОЛЛЕР И СПОСОБ

СПОСОБ ОБЕСПЕЧЕНИЯ РЕКОМЕНДАЦИИ ПО СМЕНЕ ПОЛОСЫ ДВИЖЕНИЯ И СООТВЕТСТВУЮЩАЯ СИСТЕМА

СИСТЕМЫ И СПОСОБЫ СНИЖЕНИЯ АВАРИЙНОСТИ

СИСТЕМА ПРЕДУПРЕЖДЕНИЯ СТОЛКНОВЕНИЙ

Kraftfahrzeug und Verfahren zur Kollisionsvermeidung

Die Erfindung betrifft ein Kraftfahrzeug (10) mit zumindest einem, zum Erfassen von Umgebungsdaten eingerichteten ersten Sensor (11, 12, 13), zumindest einem, zum Erfassen von Fahrzeugdaten eingerichteten zweiten Sensor (51, 52, 53), einem Kommunikationsmodul (20) zum Herstellen einer Datenverbindung mit einem anderen Kraftfahrzeug (62), einem zum automatisierten Fahren des Kraftfahrzeugs eingerichteten Fahrsystem (30), -zumindest einem Ausgabeelement (70) für ein optisches und/oder akustisches Warnsignal, und eine Steuereinheit (40). Dabei ist die Steuereinheit (40) dazu eingerichtet, anhand von Fahrzeugdaten und Umgebungsdaten und/oder Kartendaten eine prognostizierte Trajektorie des Kraftfahrzeugs (10) zu ermitteln, anhand der prognostizierten Trajektorie des Kraftfahrzeugs (10) und von Fahrzeuggeometriedaten des Kraftfahrzeugs (10) einen prognostizierten Fahrschlauch des Kraftfahrzeugs (10) zu ermitteln, über die Datenverbindung eine prognostizierte Trajektorie und Fahrzeuggeometriedaten ...

Verfahren zur Unterstützung eines Fahrers eines Kraftfahrzeugs

Die Erfindung betrifft ein Verfahren zur Unterstützung eines Fahrers eines Kraftfahrzeugs (1) bei einem Fahrmanöver, bei dem die Umgebung erfasst wird und ein dreidimensionales Modell aus den erfassten Daten der Umgebung erstellt wird, ein Fahrmanöver, das der Fahrer des Kraftfahrzeugs (1) voraussichtlich durchführen wird, prädiziert wird und eine Warnung an den Fahrer des Kraftfahrzeugs (1) ausgegeben wird, wenn das prädizierte Fahrmanöver Systemgrenzen eines zur Unterstützung des Fahrers eingesetzten Fahrassistenzsystems überschreitet oder im Bereich des prädizierten Fahrmanövers keine ausreichende Erfassung der Umgebung möglich ist. Weiterhin betrifft die Erfindung eine Vorrichtung zur Durchführung des Verfahrens.

Method for use in driver assistance system for avoiding collision in rear vehicle environment of vehicle, involves recording image sequence with rear view camera during reverse driving

The method (300) involves recording (304) an image sequence with a rear view camera during reverse driving. The image sequence is evaluated (306) for detection (308) of an object penetrating in a driving path. A control signal is selectively outputted (310) in response to the detection for avoiding collision with the object. Independent claims are also included for the following: (1) a computer program for performing collision avoiding method; and (2) a driver assistance system with an image sequence evaluation component.

Fahrassistenzsystem, Fahrzeug mit einem Fahrassistenzsystem und Verfahren zum Betrieb eines Fahrerassistenzsystems

Die vorliegende Erfindung offenbart ein Fahrassistenzsystem für ein Fahrzeug, mit einem Detektor, der dazu ausgelegt ist, mindestens ein Objekt im Umfeld des Fahrzeugs zu detektieren; mit einem Vektorfeldgenerator, der dazu ausgelegt ist, für das mindestens eine detektierte Objekt im Umfeld des Fahrzeugs ein Umgebungspotentialfeld zu erstellen und aus dem erstellten Umgebungspotentialfeld ein Vektorfeld zu berechnen; und mit einer Steuervorrichtung, die dazu ausgelegt ist, Steuerbefehle für das Fahrzeug unter Verwendung des berechneten Vektorfelds zu bestimmen. Die vorliegende Erfindung offenbart ferner ein Fahrzeug mit einem Fahrassistenzsystem und ein Verfahren zum Betrieb eines Fahrassistenzsystems.

Method for evaluation and prediction of actions of two or more objects, particularly for operation of driver assistance system in vehicle, involves determining and saving current movement trajectories of object by detection unit

The method involves determining and saving the current movement trajectories (B-O1akt) of an object (O1) by a detection unit (1). The future trajectories of the objects are predicted based on the current movement trajectories or the stored movement trajectories (B-O1g). Specific characteristics are generated by extracting the current trajectories or the future trajectories from the stored movement trajectories.

Method for determining internal collision probability of vehicle with object, involves determining collision probability of vehicle by computing probability that minimum object spacing assumes negative value

The method involves determining expected minimum object distance between a vehicle and a detected object based on state vector, which describes a momentary position and movement state of the vehicle and an acquired object. Statistical distribution values of determined minimum object distance are determined. Collision probability of the vehicle is determined (3) by computing probability that minimum object spacing assumes negative value. An independent claim is also included for a device determining internal collision probability of a vehicle with an object.

Vorrichtung zur Unterstützung der Fahrt eines mobilen Objekts auf der Grundlage von dessen Sollortskurve

In einer Vorrichtung zum Unterstützen einer Fahrt eines mobilen Objekts projiziert ein Wirbelkomponentenrechner eine relative Bewegung eines Umgebungsfelds in ein Koordinatensystem, das durch Modellieren einer Retinakugel eines Fahrers des mobilen Objekts ausgebildet wird. Der Wirbelkomponentenrechner berechnet jeweilige Drehkomponenten der projizierten relativen Bewegung des Umgebungsfelds um eine entsprechende Augenrichtung des Fahrers auf den Blickpunkt. Ein Solltrajektorieneinsteller stellt als eine Solltrajektorie des mobilen Objekts eine Gleich-Magnitudenlinie, die einen Teil der Drehkomponenten der projizierten relativen Bewegung des Umgebungsfelds miteinander verbindet, ein, wobei der Teil der Drehkomponenten dieselbe Magnitude aufweist.

Kollisionsvermeidung für ein Kraftfahrzeug

Ein Verfahren zum Bestimmen eines Fahrmanövers für ein Kraftfahrzeug umfasst Schritte des Ermittelns eines bevorstehenden Unfalls mit einem externen Objekt, des Ermittelns von Kenngrößen für Unfallschäden bei unterschiedlichen Fahrmanövern und des Bestimmens des Fahrmanövers, dessen Kenngröße auf den geringsten Unfallschaden hinweist.

Verfahren zum Betreiben eines Fahrzeugs

Die Erfindung betrifft ein Verfahren zum Betreiben eines Fahrzeugs, wobei das Fahrzeug zum Schutz wenigstens eines außen an einem Fahrzeug angeordneten Fahrzeugteiles eine Steuervorrichtung und wenigstens einen steuerbaren Stellmechanismus zur Stellpositionsänderung des Fahrzeugteiles relativ zum Fahrzeug aufweist. Wobei das Verfahren eine Situationsanalyse des Fahrzeugumfeldes durch ein geeignetes Sensorsystem, eine Ermittlung der Fahrbewegung des Fahrzeugs, eine Berechnung eines Fahrschlauchs für das außen am Fahrzeug angeordnete Fahrzeugteil, eine Abgabe eines Signals an den Stellmechanismus, und eine automatische Regulierung der Stellposition des außen am Fahrzeug angeordneten Fahrzeugteiles durch den Stellmechanismus aufweist.

Method for collision avoidance of vehicle, involves providing steering intervention for assisting driver of vehicle when driving around objects

The method involves providing steering intervention for assisting a driver of the vehicle (F) when driving around objects (H1-H4). The steering operation is suppressed when a critical driving situation is present. The dynamic critical situation is present if vehicle is located in state in which driving dynamics control system stabilizing in the driving operation. The kickdown operation is present if the speed of the vehicle is located outside of predetermined speed range. The vehicle is passed through a narrow curve.

POTENZIELLE-KOLLISION-WARNSYSTEM BASIEREND AUF VERKEHRSTEILNEHMERABSICHTSVORHERSAGE

Eine Vorrichtung, umfassend einen Speicher zum Speichern einer beobachteten Trajektorie eines Fußgängers, die beobachtete Trajektorie umfassend eine Mehrzahl von beobachteten Positionen des Fußgängers über eine erste Mehrzahl von Zeitschritten; und einen Prozessor zum Erzeugen einer vorhergesagten Trajektorie des Fußgängers, die vorhergesagte Trajektorie umfassend eine Mehrzahl von vorhergesagten Positionen des Fußgängers über die erste Mehrzahl von Zeitschritten und über eine zweite Mehrzahl von Zeitschritten, die nach der ersten Mehrzahl von Zeitschritten auftreten; Bestimmen einer Wahrscheinlichkeit der vorhergesagten Trajektorie, basierend auf einem Vergleich der Mehrzahl von vorhergesagten Positionen des Fußgängers über die erste Mehrzahl von Zeitschritten und der Mehrzahl von beobachteten Positionen des Fußgängers über die erste Mehrzahl von Zeitschritten; und ansprechend auf die bestimmte Wahrscheinlichkeit der vorhergesagten Trajektorie, Bereitstellen von Informationen, die der ...

Fahrassistenzsystem und Fahrassistenzvorrichtung

Ein Ausweichbetrag eines Fahrzeugs wird als Benachrichtigung genauer ausgegeben, bevor zwei Fahrzeuge aneinander fahren. In einem Fahrassistenzsystem (1), berechnet eine Ausweichbetrag-Berechnungseinheit (56) einen Ausweichbetrag eines ersten Fahrzeugs (101) anhand der Breite des ersten Fahrzeug (101), der Breite eines zweiten Fahrzeugs (102), der gegenwärtigen Position des ersten Fahrzeugs (101) in der Breitenrichtung, die durch eine erste Positionserfassungseinheit (52) erfasst wird, die Vorbeifahrposition, die durch eine Vorbeifahrpositionsvorhersageeinheit (51) vorhergesagt wird, der Straßenbreite an der Vorbeifahrposition, die durch eine Straßenbreite-Spezifikationseinheit (55) spezifiziert wird. Die Benachrichtigungseinheit (17) gibt eine Nachricht über den Ausweichbetrag des ersten Fahrzeugs (101) zumindest in dem ersten Fahrzeug (101) anhand des Berechnungsergebnis aus der Ausweichbetrag-Berechnungseinheit (56) aus.

VORHERSAGE DES FAHRZEUGGESCHWINDIGKEITSPROFILS UNTER VERWENDUNG NEURONALER NETZWERKE

Ein Fahrzeug weist einen Antriebsstrang auf, der eine Elektromaschine und eine Maschine hat. Das Fahrzeug weist auch eine Steuervorrichtung auf, die programmiert ist, um den Antriebsstrang gemäß einem vorhergesagten Fahrzeuggeschwindigkeitsprofil für eine vorbestimmte Route, die gemäß einer Gruppe von Fahrzonentypen segmentiert ist, zu betreiben, wobei jeder Fahrzonentyp mit einer unterschiedlichen charakteristischen Geschwindigkeitsprofilform und einem Fahrzeugort assoziiert ist. Die Steuervorrichtung ist ferner programmiert, um das vorhergesagte Geschwindigkeitsprofil für diejenigen Segmente zu aktualisieren, die Abweichung als Reaktion auf Abweichung zwischen dem vorhergesagten Geschwindigkeitsprofil und einem gemessenen Geschwindigkeitsprofil zeigen.

Fahrzeugassistenzsystem und Verfahren zur Erkennung eines entgegenkommenden Fahrzeugs in einer Fahrbahnengstelle

Die Erfindung betrifft Fahrzeugassistenzsystem (100) für ein erstes Fahrzeug (102) zur Erkennung von einem entgegenkommenden zweiten Fahrzeug (104) in einer Fahrbahnengstelle, wobei das zweite Fahrzeug (104) ausgebildet ist, zweite Daten an das erste Fahrzeug (102) auszusenden, wobei die zweiten Daten den Bewegungszustand des zweiten Fahrzeugs (104) betreffen, mit einer Kommunikationsschnittstelle (106) zum Empfangen der zweiten Daten; einer Fahrbahninformationseinrichtung (108) zum Bereitstellen einer Angabe über die Fahrbahnengstelle; und einer Auswerteeinrichtung (110), welche ausgebildet ist, auf der Basis der zweiten Daten und der Angabe über die Fahrbahnengstelle eine bevorstehende Position des zweiten Fahrzeugs (104) in der Fahrbahnengstelle zu bestimmen und ein Warnsignal an das erste Fahrzeug (102) auszugeben, falls die bevorstehende Position des zweiten Fahrzeugs (104) in der Fahrbahnengstelle mit einer Kollisionsgefahr mit dem ersten Fahrzeug (102) verbunden ist.

Kollisionsvermeidung mit Querverkehr

Das erfindungsgemäße Verfahren zur Kollisionsvermeidung eines zunächst rückwärts oder vorwärts fahrenden - insbesondere ausparkenden - Kraftfahrzeugs mit Querverkehr umfasst folgende Schritte:- Erkennen, ob eine Kollisionsgefahr mit Querverkehr vorliegt;- Ermitteln eines letztmöglichen Bremseingriffs zur Sicherstellung einer Kollisionsvermeidung bei Vorliegen einer Kollisionsgefahr mit Querverkehr und- automatisches letztmögliches Einleiten eines Bremseingriffes zur Vermeidung der Kollision im Fall einer erkannten Kollisionsgefahr, wenn damit eine Kollisionsvermeidung sichergestellt ist.

Method for supporting a driver of a motor vehicle

Vehicle mode determination

System and method for coordinating V2X and standard vehicles

Improvements in vehicle speed control

A speed control system 10, 12 for a vehicle 100 has torque control means 12 applying positive and negative torque to one or more wheels 111, 112, 114, 115, causing vehicle 100 to travel at a target speed, and means 10 for predicting a vehicle path (PP, Figure 5a), detecting one or more objects (195) ahead of vehicle 100, optionally using LIDAR or a stereoscopic camera, and determining whether objects (195) lie outside the predicted path. Control means 12 is configured to temporarily reduce the vehicle speed if one or more objects (195) is outside the path, the reduction dependent in part on the distance between objects (195) and the path; preferably the height of objects (195) and a comfort indicator determined by a user input are also taken into account. The system may allow comfortable driving on a variety of terrain, including tarmac, sand, grass, gravel, snow, rock and mud.

Autonomous vehicle using path prediction

Electric vehicle and method for controlling the same

An electric wheelchair includes a body portion, an operating section to detect an operation by an operator, an obstacle sensor to detect an obstacle existing in the vicinity of the body portion, an obstacle determination section to form a search region extending from the body portion in an operating direction, and to determine an obstacle existing in the search region, as the obstacle to be avoided, a virtual repulsive force calculation section to calculate a virtual repulsive force to move the body portion away from the obstacle determined by the obstacle determination section, a resultant force calculation section to calculate a resultant force composed of an operating force and the virtual repulsive force, and a control section to control a movement of the body portion so that the body portion is moved in a direction of the resultant force.

Method for assisting a driver of a motor vehicle

In a method for assisting a driver of a motor vehicle in a driving maneuver, the surroundings of the vehicle are recorded, and it is checked whether at least one object is located in the surroundings of the vehicle, and it is ascertained subsequently whether the vehicle is approaching the object, and a warning to the driver is output if the vehicle approaches the object up to a critical distance. The driver is warned by a warning jerk, and after the warning jerk has taken place, the speed of the vehicle is automatically reduced.

Vehicle And Method Of Controlling A Powertrain Therein

A vehicle may include a sensor configured to detect a rearward approaching object and at least one controller configured to cause the vehicle to accelerate in response to the sensor detecting a rearward approaching object while the vehicle is moving forward.

Brake assist system

A method for automatic braking of a vehicle in order to avoid collision with road users is contemplated. The method may be used in avoiding or mitigating collisions with users in adjacent lanes. The method may include monitoring adjacent lanes of a road for detecting the relative approach of road users in said adjacent lanes to said vehicle, and providing a signal indicative thereof, detecting a left or right hand turn of the vehicle and providing a signal indicative thereof, calculating, in response to said signals, if a collision with an approaching road user is imminent, and providing a signal indicative thereof, and activating, in response to the signal that a collision with the approaching road user is imminent, the brakes of the vehicle.

Driving control device

A driving control device according to the present invention activates a control for suppressing sideways movement of a vehicle towards a side object, when the side object present to the side of the vehicle as well as towards the rear of the vehicle is detected. Also, the activation of the control is suppressed when, in the absence of detection of the side object, the vehicle starts entering an adjacent lane in order to change lanes.

Driving support apparatus and driving support method

In a driving support apparatus that sets a running road, on which a vehicle is able to run, on the basis of a road marking that indicates a lane boundary or a prohibited area and that, when the vehicle deviates from the running road, issues a warning or performs assisting so as to cause the vehicle to run within the running road, when the width of a lane defined by the road marking that indicates the lane boundary is narrow, the running road is set by allowing a deviation from the lane having a narrow width. It is possible to effectively utilize the driving support apparatus by increasing a chance of using the driving support apparatus without unnecessary support.

Driver assisting system and method

A driver assisting system and method for a vehicle are provided. The system includes a processor and a display system. The display system is adapted to display information on a screen of a vehicle. The screen is adapted to show the environment in front of the vehicle or a representation thereof. The vehicle extends in a longitudinal direction and a lateral direction, the longitudinal direction corresponding to the intended direction of vehicle travel. The processor is adapted to receive a first input data signal indicative of a velocity of the vehicle, and a second input data signal indicative of an actual performed and/or on-going and/or impending lateral position change of the vehicle. The processor is further adapted to process at least the first and the second input data signals to calculate an estimated vehicle path, and the display system is adapted to display the estimated vehicle path on the screen.

Safety Device for a Motor Vehicle and Method for Operating a Motor Vehicle

The invention relates to a device and method for increasing the safety of a motor vehicle. A first sensor unit ( 2 ) detects the environment, in particular free spaces and objects ( 0 ) and the position and motion of said objects. A second sensor unit ( 20 ) detects the environment state, a third sensor unit ( 30 ) detects the vehicle state, and a fourth sensor unit ( 40 ) detects the driver specifications. The data are amalgamated. According to the invention, a driving safety coordinator ( 6 ) is provided, which calculates the risk of collision on the basis of a risk evaluation, and the driving safety coordinator ( 6 ) determines pre-collision phases (P 1, P 2, P 3, P 4 a, P 4 b ) of the motor vehicle ( 1 ) with regard to the object ( 0 ).

Method for Detecting Critical Driving Situations of Lorries or Passenger Vehicles and Method for Avoiding Collisions

A method for detecting critical driving situations of motor vehicles, in particular for preventing collisions with an object in front of an own vehicle, has the following steps: detection of a current vehicle acceleration and a current vehicle velocity of an own vehicle; specification of an acceleration profile depending on driving variables of the own vehicle; assumption of a time progression of a foreseeable acceleration of the own vehicle based on its current acceleration; determination of a path profile of the own vehicle from the time progression of the foreseeable acceleration; acquisition of a current distance and a current relative velocity of an object in front of the own vehicle; calculation of the current absolute velocity of the object as well as of the absolute current acceleration of the object; assumption of a time progression of a foreseeable acceleration of the object based on its current acceleration; determination of a path profile of the object from the time progression of the foreseeable acceleration; comparison of the path profile of the own vehicle with the path profile of the object; and if the two path profiles intersect, determination of a probable collision time of the own vehicle with the object; establishment of a time before the probable collision time comparison of this time with the probable collision time determined; and if the probable collision time lies before the established time, issue of a warning to the driver of the own vehicle.

Apparatus and Method for Controlling Safety Equipment of Vehicle

According to an embodiment of the present disclosure, a safety equipment controlling apparatus of a vehicle may include an acceleration sensor, a collision detection sensor, a brake controller, a steering controller, an airbag, a seat belt actuator, and a control circuit electrically connected to the acceleration sensor, the collision detection sensor, the brake controller, the steering controller, the airbag, and the seat belt actuator. The control circuit may be configured to obtain a longitudinal acceleration and a lateral acceleration, which are generated by a brake of the brake controller and a steering of the steering controller, using the acceleration sensor and to calculate a predicted behavior of a user of the vehicle, based on the longitudinal acceleration and the lateral acceleration. 1. An apparatus for use with a vehicle , the apparatus comprising:an acceleration sensor;a collision detection sensor;a brake controller;a steering controller;an airbag;a seat belt actuator; anda control circuit electrically connected to the acceleration sensor, the collision detection sensor, the brake controller, the steering controller, the airbag, and the seat belt actuator, wherein the control circuit is configured to:obtain a longitudinal acceleration and a lateral acceleration, which are generated by a brake of the brake controller and a steering of the steering controller, using the acceleration sensor; andcalculate a predicted behavior of a user of the vehicle based on the longitudinal acceleration and the lateral acceleration.2. The apparatus of claim 1 , wherein the control circuit is configured to determine whether the predicted behavior is greater than a specified displacement.3. The apparatus of claim 2 , wherein the control circuit is configured to calculate a collision severity of the vehicle based on an acceleration obtained by the collision detection sensor.4. The apparatus of claim 3 , wherein the control circuit is configured to adjust a deployment time ...

VEHICULAR CONTROL SYSTEM WITH VEHICLE TRAJECTORY TRACKING

A vehicular control system includes a forward viewing camera and a non-vision sensor. The control, responsive to processing of captured non-vision sensor data and processing of frames of captured image data, at least in part controls the equipped vehicle to travel along a road. The control, responsive at least in part to processing of frames of captured image data, determines lane markers on the road and determines presence of another vehicle traveling along the traffic lane ahead of the equipped vehicle and determines a trajectory of the other vehicle relative to the equipped vehicle. The control stores a trajectory history of the determined trajectory of the other vehicle relative to the equipped vehicle as the other vehicle and the equipped vehicle travel along the traffic lane. 1. A vehicular control system , said vehicular control system comprising:a forward viewing camera disposed at a windshield of a vehicle equipped with said vehicular control system, wherein said camera has a field of view through the windshield and forward of the equipped vehicle, wherein said camera is operable to capture frames of image data;at least one non-vision sensor disposed at the equipped vehicle so as to have a field of sensing exterior of the equipped vehicle, wherein said at least one non-vision sensor is operable to capture non-vision sensor data;a control comprising at least one processor;wherein frames of image data captured by said camera are processed at said control;wherein non-vision sensor data captured by said at least one non-vision sensor is processed at said control;wherein said control, responsive to processing captured non-vision sensor data at said control and processing frames of captured image data at said control, at least in part controls the equipped vehicle as the equipped vehicle travels along a road;wherein said control, responsive at least in part to processing frames of captured image data at said control, determines presence of lane markers of a ...

CHARACTERIZING A VEHICLE COLLISION

Described herein are examples of a system that processes information describing movement of a vehicle at a time related to a potential collision to reliably determine whether a collision occurred and/or one or more characteristics of the collision. In response to obtaining information regarding a potential collision, data describing movement of the vehicle before and/or after a time associated with the potential collision is analyzed to determine whether the collision occurred and/or to determine one or more collision characteristic(s). The analysis may be carried out at least in part using a trained classifier that classifies the vehicle movement data into one or more classes, where at least some the classes are associated with whether a collision occurred and/or one or more characteristics of a collision. If a collision is determined to be likely, one or more actions may be triggered based on the characteristic(s) of the collision. 1. A method comprising: obtaining, for a time period extending before and after a time of the potential collision, data describing the vehicle during the time period, the data describing the vehicle during the time period including, for each time of a plurality of times within the time period, acceleration data indicating acceleration of the vehicle at the time and speed of the vehicle at the time;', 'classifying, using at least one trained classifier, the data describing the vehicle into at least one of a plurality of classes, each class of the plurality of classes being associated with whether a collision occurred; and', 'determining whether the potential collision is likely to have been a collision based at least in part on the at least one class identified in the classifying., 'in response to obtaining information regarding a potential collision between a vehicle and an object,'}2. The method of claim 1 , wherein:each class of the plurality of classes that is associated with occurrence of a collision is further associated with at ...

METHOD AND APPARATUS FOR UPDATING APPLICATION BASED ON DATA IN AN AUTONOMOUS DRIVING SYSTEM

A method for updating an application for autonomous driving of a vehicle in an automated vehicle and highway systems. The method includes acquiring i) sensor data, ii) processing data, iii) database-based data, and/or iv) external data associated with an event; generating a simulation model for the event based on the data, tracking an object associated with the event based on the simulation model; updating an application for the autonomous driving based on tracking the object; and transmitting the information on the updated application to the vehicle. The application for autonomous driving of the vehicle may be updated to help prevent occurrence of the event. At least one of an autonomous vehicle, a user terminal and a server may be associated with an artificial intelligence module, a drone (Unmanned Aerial Vehicle, UAV) robot, augmented reality (AR) device, virtual reality (VR) device, a device related to a 5G service, and the like. 1. A method for updating an application for autonomous driving of a vehicle in an automated vehicle and highway systems , the method comprising:acquiring at least one of i) sensor data, ii) processing data, iii) database (DB)-based data, or iv) external data associated with a specific event;generating a simulation model for the occurrence of the specific event based on the acquired data;tracking at least one object associated with the specific event based on the simulation model;updating an application for the autonomous driving based on a tracking result of the at least one object; andtransmitting, to the vehicle, the information on the updated application.2. The method of claim 1 , wherein the specific event is a collision event between the vehicle and another object.3. The method of claim 2 , wherein the processing data is acquired by performing a processing operation for the autonomous driving on the sensor data claim 2 , andwherein the DB-based data includes at least one of geographic information, traffic information, or autonomous ...

DEVICE FOR CONTROLLING THE TRAJECTORY OF A VEHICLE

A device for controlling, in real time, the trajectory of an autonomous vehicle includes a control module which produces, in real time, from a state vector at each point in time, a first steering command in order to stabilize the trajectory of the vehicle relative to a vehicle path. The device includes an anticipation module which generates a variable representative of a meta-vector of deviations for each predicted position of the vehicle at points in time resulting in a given quantity at the current point in time and of the state vector at the current point in time. The control module produces the first steering command by quadratic optimization of a relationship between the generated representative variable and a meta-vector of successive steering commands for each predicted position of the vehicle at points in time resulting in a given quantity at the current point in time. 111-. (canceled)12. A device for real-time control of trajectory of an autonomous vehicle comprising:{'sub': k', 'k', 'k, 'o': {'@ostyle': 'single', 'ξ'}, 'a control module which produces in real time on the basis of a real or estimated vector of states (ξ, ) at each instant k of following of a lane by the vehicle moving at a current speed (v), a first turning command (u) to stabilize the trajectory of the vehicle with respect to said lane; and'}{'sub': k+1', 'k', 'k', 'k, 'o': {'@ostyle': 'single', 'ξ'}, 'an anticipator module which generates a quantity (Ξ, h) representative of a meta-vector (Γ) of disturbances for each predicted position of the vehicle at instants succeeding in given amount (N) the current instant (k) and of the vector of states (ξ, ) at the current instant (k), and'}{'sub': k', 'k+1', 'k, 'wherein the control module produces the first turning command (u) by quadratic optimization of a relation between said representative quantity (Ξ, h) generated and a meta-vector (U) of successive turning commands for each predicted position of the vehicle at said instants succeeding in ...

Assisting A Motor Vehicle Driver In Negotiating A Roundabout

An advanced driver assistance system designed to receive and process motor-vehicle position-related data and motor-vehicle motion-related data of a host motor vehicle and of neighbour motor vehicles detected in the vicinity of the host motor vehicle and which have been determined as entering the same roundabout in which the host motor vehicle will enter, to provide assistance to the driver of the host motor vehicle for negotiating the roundabout. A degree of proximity of the host motor vehicle and the neighbour motor vehicle to the roundabout based on motor-vehicle position-related data is determined and a determined alert level is provided the driver. 1. An advanced driver assistance system to be provided on board a host motor vehicle (HMV) to assist a driver of the host motor vehicle (HMV) in negotiating a roundabout; 'an on-board location device to output motor vehicle position-related data of the host motor vehicle (HMV);', 'the advanced driver assistance system comprises an automotive human-machine interface to provide the driver of the host motor vehicle (HMV) with driving information to assist the driver in approaching and negotiating the roundabout; and', 'an electronic control unit connected to the on-board location device, to the vehicle-to-vehicle communications system and to the automotive human-machine interface via an automotive on-board communication network to:, 'a vehicle-to-vehicle communications system to automatically detect, identify and communicate with vehicle-to-vehicle communications systems within its communications range and arranged on neighbour motor vehicles (NMV) to exchange motor vehicle position-related data and motor vehicle motion-related data;'} determine the neighbour motor vehicles (NMV) that will enter the roundabout based on the motor vehicle position-related data of the host motor vehicle (HMV) and of the neighbour motor vehicles (NMV) and a digital road map, and', 'provide the driver of the host motor vehicle (HMV), via the ...

GROUPING FOR EFFICIENT COOPERATIVE POSITIONING CALCULATIONS

An apparatus comprising a transceiver module and a processor. The transceiver may be configured to send/receive data messages to/from a plurality of vehicles. The processor may be configured to (i) determine a plurality of selected vehicles from the plurality of vehicles based on a selection criteria and (ii) calculate relative coordinates of the plurality of vehicles based on the data messages from the selected vehicles. The selection criteria may comprise determining (i) a target vehicle and (ii) at least two complementary vehicles. A predicted trajectory of the target vehicle may cross paths with a predicted trajectory of the apparatus. The complementary vehicles may be selected based on (i) an arrangement of the plurality of vehicles and (ii) speeds of the plurality of vehicles. 1. An apparatus comprising:a transceiver module configured to send/receive data messages to/from a plurality of vehicles; anda processor configured to (i) determine a plurality of selected vehicles from said plurality of vehicles based on a selection criteria and (ii) calculate relative coordinates of said plurality of vehicles based on said data messages from said selected vehicles, wherein (a) said selection criteria comprises determining (i) a target vehicle and (ii) at least two complementary vehicles, (b) a predicted trajectory of said target vehicle crosses paths with a predicted trajectory of said apparatus and (c) said complementary vehicles are selected based on (i) an arrangement of said plurality of vehicles and (ii) speeds of said plurality of vehicles.2. The apparatus according to claim 1 , wherein (i) said processor comprises a relative positioning module and (ii) said relative positioning module is configured to perform said selection criteria.3. The apparatus according to claim 1 , wherein (i) said selection criteria is implemented to select four of said plurality of vehicles as said selected vehicles claim 1 , (ii) said selected vehicles comprise a host vehicle claim 1 , ...

DEVICE AND METHOD FOR CONTROLLING AUTONOMOUS DRIVING

A device and a method for controlling autonomous driving are provided The device includes non-transitory memory storing instructions executable to control an autonomous driving; and a processor configured to execute the instructions to determine whether a collision has occurred using an acceleration sensor mounted on an airbag control unit during the autonomous driving, determine a collision direction based on a change in acceleration of three axes obtained by the acceleration sensor, and perform an emergency action by controlling at least one of longitudinal direction travel or transverse direction travel based on the collision direction. 1. A device comprising:non-transitory memory storing instructions executable to control an autonomous driving; and determine whether a collision has occurred using an acceleration sensor mounted on an airbag control unit during the autonomous driving;', 'determine a collision direction based on a change in acceleration of three axes obtained by the acceleration sensor; and', 'perform an emergency action by controlling at least one of longitudinal direction travel or transverse direction travel based on the collision direction., 'a processor configured to execute the instructions to2. The device of claim 1 , wherein the processor is configured to:determine that the vehicle collision has occurred when at least one of an accident recording signal or an airbag deployment signal is generated from the airbag control unit.3. The device of claim 2 , wherein the processor is configured to:predict a possibility of collision using sensors mounted on a vehicle when the accident recording signal or the airbag deployment signal is not generated; anddetermine whether each amount of change in the acceleration of the three axes exceeds a predetermined amount of change for vehicle control when the possibility of collision exists.4. The device of claim 3 , wherein the processor is configured to:determine whether each amount of change in the ...

Method and control device for a system for the control of a motor vehicle

A method for controlling a motor vehicle (10) traveling on a road (12) in a current lane (14) is presented. The road (12) has at least one further lane (16) which is adjacent to the current lane (14) of the motor vehicle (10). The method comprises the following steps: A driving maneuver graph is generated and/or received, which contains information about at least two different driving maneuvers for the motor vehicle (10). One of the at least two possible driving maneuvers is selected by means of a machine learning module (36) which applies a machine learning method to the driving maneuver graph. A control device (30) for a system (26) for the control of a motor vehicle (10) is also proposed.

Collision Visualization Device For Visualizing Driving State Of Vehicle And Recording Medium

A collision visualization device includes an identification unit analyzing vehicle traveling information in which information representing at least a type and occurrence time of an event generated in a vehicle to be analyzed in a time period including occurrence time of a collision or each of a series of collisions occurring for the vehicle, is recorded in accordance with occurrence order, and identifying a state of the vehicle in the time period, and a visualization unit causing a display device to display an iconic image representing the state of the vehicle identified by the identification unit. 1. A collision visualization device comprising:an identification unit configured to analyze vehicle traveling information in which information representing at least a type and occurrence time of each of a series of collisions is recorded in accordance with occurrence order of each of the collisions, and identify a state of a vehicle for each of the collisions; anda visualization unit configured to cause a display device to display a character string representing a name, a type, and duration for each of the collisions, a trigger counter, and an iconic image representing the state of the vehicle identified by the identification unit, whereinwhen the series of the collisions are occurred, the identification unit analyzes the vehicle traveling information and identifies the occurrence order of each of the collisions, and assigns the trigger counter in accordance with ascending order of end time of each of the collisions, andthe visualization unit causes the display device to display the iconic image reflecting the occurrence order of each of the collisions identified by the identification unit.2. The collision visualization device according to claim 1 , whereinthe visualization unit causes the display device to display an iconic image in which time difference between start time of a collision ended most recently and start time of another collision is arranged for each of the ...

MINING OR CONSTRUCTION VEHICLE ASSISTANCE SYSTEM

A vehicle assistance system comprising a computer and a client device. The computer is configured to receive an identification reference and a current position of the first vehicle, provide a route of the first vehicle based on the identification reference and the current position of the first vehicle, receiving an identification reference and current position of a second vehicle, providing a route of the second vehicle based on the identification reference and the current position of the second vehicle, detect an expected location where the route of the first and second vehicle intersect or overlap, detect an expected time when the first and second vehicle intersect at the expected location, generate adaptation data based on the expected location and the expected time, the adaptation data representing an adaptation of a route parameter of the route of the first or second vehicle, sending the adaptation data to the client device. 1. A vehicle assistance system for haul roads , the vehicle assistance system comprising: receive an identification reference of a first vehicle,', 'receive a current position of the first vehicle,', 'provide a route of the first vehicle based on the identification reference of the first vehicle and the current position of the first vehicle,', 'receive an identification reference of a second vehicle,', 'receive a current position of the second vehicle,', 'provide a route of the second vehicle based on the identification reference of the second vehicle and the current position of the second vehicle, detect an expected location where the route of the first vehicle and the route of the second vehicle intersect or overlap,', 'detect an expected time when the first vehicle and the second vehicle intersect at the expected location,', a route parameter of the route of the first or second vehicle, or', 'a driving parameter of the first vehicle or of the second vehicle, and, 'generate adaptation data based on the expected location and the expected ...

METHOD AND APPARATUS FOR JUDGING VEHICLE DRIVING DIRECTION, DEVICE AND COMPUTER STORAGE MEDIUM

The present disclosure provides a method and apparatus for judging a vehicle driving direction, a device and a computer storage medium, wherein the method for judging a vehicle driving direction comprises: obtaining a point cloud subset of the vehicle and candidate orientation angles of the vehicle; respectively determining a minimum enclosing rectangle of top view data in the point cloud subset, in the direction of each candidate orientation angle; determining energy functions corresponding to candidate orientation angles by using distribution properties of respective point clouds in the respective minimum enclosing rectangles relative to the minimum enclosing rectangles; determining the driving direction of the vehicle from the candidate orientation angles, according to the energy functions. 1. A method for judging a vehicle driving direction , wherein the method comprises:obtaining a point cloud subset of the vehicle and candidate orientation angles of the vehicle;respectively determining a minimum enclosing rectangle of top view data in the point cloud subset, in the direction of each candidate orientation angle;determining energy functions corresponding to candidate orientation angles by using distribution properties of respective point clouds in the respective minimum enclosing rectangles relative to the minimum enclosing rectangles;determining the driving direction of the vehicle from the candidate orientation angles, according to the energy functions.2. The method according to claim 1 , wherein the point cloud subset of the vehicle is obtained in the following manner:obtaining point cloud data collected by collecting devices of an autonomous vehicle;after merging the point cloud data, clustering the merged point cloud data to obtain the point cloud subset with an object as a unit;recognizing and classifying the point cloud subset, and obtaining the point cloud subset of the vehicle.3. The method according to claim 1 , wherein the candidate orientation angle ...

U-TURN ASSISTANCE BASED ON DIFFICULTY IN MANEUVERING

Methods, devices and apparatuses pertaining to U-turn assistance. The method may include obtaining, by a computing device, geographic obtaining of a location designated for an operation of a U-turn. The computing device may further obtain vehicle information of a vehicle performing the U-turn, and collect user information of an operator of the vehicle. Based on the geographic information, the vehicle information and the user information, the computing device may determine a level of difficulty of the U-turn and assist the operator with the operation of the U-turn based on the level of difficulty. 1. A method comprising:obtaining geographic information of a location designated for an operation of a U-turn;obtaining vehicle information of a vehicle performing the U-turn;collecting user information of an operator of the vehicle;determining a level of difficulty of the U-turn based on the geographic information, the vehicle information and the user information; andassisting the operator with the operation of the U-turn based on the level of difficulty.2. The method of claim 1 , wherein the obtaining of the geographic information of the location comprises obtaining the geographic information of the location using a free space sensing technique and a motion planning technique.3. The method of claim 1 , wherein the obtaining of the geographic information of the location comprising:generating a feasible path of the U-turn at the location based on the vehicle information and the geographic information;identifying one or more obstructions in the feasible path; andcollecting information of an oncoming traffic at the location to identify one or more potential collisions associated with the feasible path.4. The method of claim 3 , wherein the identifying of the one or more obstructions in the feasible path comprises identifying the one or more obstructions in the feasible path using one or more sensors attached to the vehicle claim 3 , pre-stored geographic information ...

Bypass assistance

A method for bypass alert, the method may include obtaining sensed information about an environment of the first vehicle, by one of more vehicle sensors of a first vehicle; wherein the environment of the first vehicle comprises a passing lane and a current lane in which the first vehicle is positioned; determining whether a driver initiates a bypass of another vehicle to be bypassed, wherein the determining is made by a first machine learning process, and is based on at least one out of first vehicle parameters and the sensed information about the environment; determining that the first vehicle entered the passing lane; determining, by a second machine learning process, a determined time to collision (TTC) to an incoming vehicle that is located at the passing lane and drives towards the first vehicle; determining, based on at least on the determined TTC and an allowable TTC to provide a safety parameter of the bypass; and responding to the safety parameter.

GAME-THEORETIC PLANNING FOR RISK-AWARE INTERACTIVE AGENTS

A method for risk-aware game-theoretic trajectory planning is described. The method includes modeling an ego vehicle and at least one other vehicle as risk-aware agents in a game-theoretic driving environment. The method also includes ranking upcoming planned trajectories according to a risk-aware cost function of the ego vehicle and a risk-sensitivity of the other vehicle associated with each of the upcoming planned trajectories. The method further includes selecting a vehicle trajectory according to the ranking of the upcoming planned trajectories based on the risk-aware cost function and the risk-sensitivity of the other vehicle associated with each of the upcoming planned trajectories to reach a target destination according to a mission plan. 1. A method for risk-aware game-theoretic trajectory planning , the method comprising:modeling an ego vehicle and at least one other vehicle as risk-aware agents in a game-theoretic driving environment;ranking upcoming planned trajectories according to a risk-aware cost function of the ego vehicle and a risk-sensitivity of the other vehicle associated with each of the upcoming planned trajectories; andselecting a vehicle trajectory according to the ranking of the upcoming planned trajectories based on the risk-aware cost function and the risk-sensitivity of the other vehicle associated with each of the upcoming planned trajectories to reach a target destination according to a mission plan.2. The method of claim 1 , in which modeling comprises:approximating a feedback Nash equilibria of a risk-aware game-theoretic trajectory planning;deriving, at each iteration, a linearized approximation of system dynamics and a quadratic approximation of the risk-aware cost function; andsolving a backward recursion for finding the feedback Nash equilibria of the risk-aware game-theoretic trajectory planning.3. The method of claim 1 , in which ranking the upcoming planned trajectories comprises:computing risk-sensitive cost functions ...

Vehicle movement state determination device and vehicle movement control device

A vehicle movement state determination device includes: a yaw rate determination unit configured to determine a yaw rate based on at least one of a detection yaw rate detected by a yaw rate sensor and a calculation yaw rate calculated by a yaw rate calculation unit; and a yaw rate reliability determination unit configured to determine whether a reliability of the detection yaw rate is low. The yaw rate determination unit determines the detection yaw rate as the yaw rate at the time the yaw rate reliability determination unit does not determine that the reliability of the detection yaw rate is low, and determines the yaw rate based on the calculation yaw rate at the time the yaw rate reliability determination unit determines that the reliability of the detection yaw rate is low.

DRIVING ASSISTANCE APPARATUS FOR VEHICLE

A vehicle driving assistance apparatus that includes: a sensing unit configured to sense an object outside the vehicle; and a processor configured to: obtain surrounding situation information, based on a location of the object outside the vehicle, determine whether the object approaches the vehicle from a traveling lane or a lateral lane, based on the determination of whether the object approaches the vehicle from a traveling lane or a lateral lane, generate a control signal that is configured to control at least one of a drive apparatus of the vehicle, a steering apparatus of the vehicle, and/or a brake apparatus of the vehicle (i) to avoid collision between the vehicle and the object or (ii) to perform an action that reduces an impulse on the vehicle from the collision, and provide the control signal to a vehicle control system of the vehicle. 1. A vehicle driving assistance apparatus coupled to a vehicle , comprising:a sensing unit configured to sense an object outside the vehicle; and obtain surrounding situation information,', 'based on a location of the object outside the vehicle, determine whether the object approaches the vehicle from a traveling lane in which the vehicle is traveling or a lateral lane that is a side lane of the traveling lane,', 'based on the determination of whether the object approaches the vehicle from a traveling lane in which the vehicle is traveling or a lateral lane that is a side lane of the traveling lane, generate a control signal that is configured to control at least one of a drive apparatus of the vehicle, a steering apparatus of the vehicle, and/or a brake apparatus of the vehicle (i) to avoid collision between the vehicle and the object or (ii) to perform an action that reduces an impulse on the vehicle from the collision, and', 'provide the control signal to a vehicle control system of the vehicle., 'a processor configured to2. The vehicle driving assistance apparatus of claim 1 , wherein the processor is configured to:based ...

VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND VEHICLE CONTROL PROGRAM

A vehicle control device includes: a recognition unit configured to recognize a position of a neighboring vehicle traveling around a host vehicle; a target position setting unit configured to set a target position for lane change to a lane of a lane change destination to which the host vehicle changes a lane; a lane changeability determining unit configured to determine that it is possible to change lane when one or both of a first condition in which the neighboring vehicle is not present in a forbidden area which is set on a lateral side of the host vehicle and on the lane of the lane change destination and a second condition in which a collision margin time between the host vehicle and the neighboring vehicle present before or after the target position is larger than a threshold are satisfied; and a control unit configured to cause the host vehicle to change lane to the lane of the lane change destination when the lane changeability determining unit determines that it is possible to change the lane. 1. A vehicle control device comprising:a recognition unit configured to recognize a position of a neighboring vehicle traveling around a host vehicle;a target position setting unit configured to set a target position for lane change to a lane of a lane change destination to which the host vehicle changes a lane;a lane changeability determining unit configured to determine that it is possible to change lane when one or both of a first condition in which the neighboring vehicle is not present in a forbidden area which is set on a lateral side of the host vehicle and on the lane of the lane change destination such that a predetermined distance margin is set on a front side and a rear side in relation to the host vehicle and the distance margin on the front side is longer than the distance margin on the rear side and a second condition in which a collision margin time between the host vehicle and the neighboring vehicle present before or after the target position is larger ...

Methods, devices and computer program products for tracking of objects in a transportation system

A method for tracking an object in a transportation system is described. The method includes determining, at a first time, a first location of the object based on a positioning system. A first area includes the first location. The method includes determining, based on a movement sensor, that the object is moving. The movement sensor determines that the object is moving at a second time that is after the first time. The method includes determining, at a third time that is after the second time, based on the positioning system, a second location of the object, and setting the moving time of the object to be the second time, responsive to determining that the object has moved to the second location that is in a second area that is different from the first area. Related systems, devices and computer program products are also described.

Vehicle control device

In a vehicle control device, detection of an object around a vehicle is performed, in a case where it is determined that there is a possibility that the vehicle may collide with the object, whether or not a collision can be avoided by braking control of the vehicle is determined, and in a case where it is determined that a collision cannot be avoided by the braking control, steering and braking control to avoid a collision by both steering of the vehicle and braking of the vehicle is performed, flashing of a direction indicator is started, and in a case where the vehicle has stopped, flashing of hazard flashing indicators is performed.

DANGER DETECTION IN AN INTENDED LANE CHANGE

A method for ascertaining the danger potential of a lane change of an ego vehicle from the currently used traffic lane to an adjacent traffic lane, a detection range in the external space of the ego vehicle being monitored, and the effect of objects identified in the detection range on the danger potential is evaluated, and based on positions and speeds of internal other vehicles identified in the detection range, it is determined whether external other vehicles located outside the detection range are able to reach a target region in which the ego vehicle is located following the intended lane change. A method for the at least partially automated control of an ego vehicle, in which in the case of an intended lane change, the danger potential of this lane change is evaluated, and the lane change is prevented if external other vehicles are able to reach the target region. 1. A method for ascertaining a danger potential of a lane change of an ego vehicle from a currently used traffic lane to an adjacent traffic lane , the method comprising:monitoring a detection range in an external space of the ego vehicle;evaluating an effect of objects identified in the detection range on the danger potential being evaluated; andevaluating, on the basis of positions and speeds of internal other vehicles identified in the detection range, whether external other vehicles located outside the detection range are able to reach a target region in which the ego vehicle is located following an intended lane change.2. The method as recited in claim 1 , wherein the target region is evaluated as being reachable by external other vehicles one of: (i) if either no internal other vehicle is identified in the adjacent traffic lane between the target region and a boundary of the detection region claim 1 , or (ii) if an internal other vehicle is identified at such a great distance that an external other vehicle is able to pass the internal other vehicle and merge into the adjacent traffic lane even ...

Controlling error corrected planning methods for operating autonomous vehicles

In one embodiment, motion planning and control data is received, indicating that an autonomous vehicle is to move from a first point to a second point of a path. The motion planning and control data describes a plurality of routes from the first point to the second point within the path. For each of the routes, a simulation of the route is performed in view of physical characteristics of the autonomous vehicle to generate a simulated route. A controlling error is calculated, the controlling error representing a discrepancy between the route and the simulated route. One of the routes is selected based on controlling errors between the routes and associated simulated routes. The autonomous vehicle is operated to move from the first point to the second point according to the selected route.

Collision detection device

A collision detection device detects a probability of whether a vehicle will collide with a detected moving object. An ECU determines a high-risk region measured by a predetermined distance in a forward moving direction of the vehicle from a farthest feature point obtained from a farthest-located obstacle object detected on a road's shoulder. When the moving object is detected in the high-risk region, the ECU reduces a collision detection time-period within which the vehicle must detect whether the vehicle would collide with the moving object. The reduced collision detection time-period is shorter than a collision detection time-period to be used when the moving object is detected outside of the high-risk region.

DRIVER ASSISTANCE SYSTEM

A driver assistance system includes an imaging device mounted to a vehicle that provides an image of a vicinity of the vehicle. A mobile device carried by a driver provides range rate information regarding a change in position of the mobile device. A processor determines that there is at least one object in the vicinity of the vehicle based on the image, determines the speed of vehicle movement based on the range rate information, determines relative movement between the vehicle and the at least one object based on at least the image, and determines a risk of collision between the vehicle and the at least one object based on the determined speed and the determined relative movement. A driver assist output provides a risk indication of the determined risk of collision to the driver. 2. The driver assistance system of claim 1 , whereinthe driver assist output comprises a display screen;the display screen displays a representation of the image; andthe display screen provides a visual representation of the risk indication.3. The driver assistance system of claim 2 , wherein the mobile device comprises the display screen.4. The driver assistance system of claim 3 , whereinthe mobile device is configured with an application that allows the mobile device to receive the image from the imaging device; andthe mobile device comprises the processor.5. The driver assistance system of claim 4 , wherein the mobile device comprises a cellular phone.6. The driver assistance system of claim 4 , wherein the mobile device is configured to provide an audible output of the risk indication.7. The driver assistance system of claim 2 , comprising a user interface configured to be supported in the vehicle and wherein the user interface comprises the processor and the display screen.8. The driver assistance system of claim 1 , whereinthe image indicates a condition of the vicinity behind the vehicle;the processor determines whether the vehicle is moving in a forward or reverse direction; ...

AUTOMOTIVE DRIVER ASSISTANCE

An advanced driver assistance system configured to implement one or more automotive V2V applications designed to assist a driver in driving a Host Motor-Vehicle. The advanced driver assistance system is configured to be connectable to an automotive on-board communication network to communicate with automotive on-board systems to implement one or different automotive functionalities aimed at assisting the driver in driving the Host Motor-Vehicle, controlling the Host Motor-Vehicle, and informing the driver of the Host Motor-Vehicle of the presence of Relevant Motor-Vehicles deemed to be relevant to the driving safety of the Host Motor-Vehicle. The advanced driver assistance system comprises an automotive V2V communication system operable to communicate with automotive V2V communication systems of Remote Motor-Vehicles via V2V messages containing motor-vehicle position-related, motion-related, and state-related data. The advanced driver assistance system is further configured to receive V2V messages transmitted by V2V communications systems of Remote Motor-Vehicles; identify from among the Remote Motor-Vehicles in communication with the Host Motor-Vehicle, Nearby Motor-Vehicles that may represent potential threats to the driving safety of the Host Motor-Vehicle, based on motor-vehicle position-related, motion-related, and state-related data in received V2V messages and on motor-vehicle position-related, motion-related, and state-related data of the Host Motor-Vehicle; and process the data contained in the V2V messages received from the Nearby Motor-Vehicles to identify from among the Nearby Motor-Vehicles Relevant Motor-Vehicles that may be relevant to the automotive functionalities aimed at assisting the driver in driving the Host Motor-Vehicle, controlling the Host Motor-Vehicle, at informing the driver of the Host Motor-Vehicle of the presence of Relevant Motor-Vehicles deemed to be relevant to the driving safety, and dispatch on the automotive on-board ...

Enhanced collision avoidance

A driver input representing a steering maneuver associated with non-autonomous operation of a host vehicle is detected. A first target vehicle in an adjacent lane relative to the host vehicle is identified. The steering maneuver is allowed when a second target vehicle is detected in an original lane relative to the host vehicle. The steering maneuver is prevented when no second target vehicle is detected in the original lane of the host vehicle.

Control system and control method for selecting and tracking a motor vehicle

The present invention describes a control system, which is adapted and determined to identify motor vehicles driving in front. The control system is at least adapted and determined to detect another motor vehicle participating in the traffic with the at least one environmental sensor. The control system is at least adapted and determined to determine positions of the other motor vehicle for a predetermined time interval. The control system is at least adapted and determined to determine at the end of the time interval whether a) a current position of the own motor vehicle lies ahead of at least one of the determined positions of the other motor vehicle; b) a lateral distance between a respectively next position of the determined positions of the other motor vehicle ahead of and behind the current position of the own motor vehicle does not exceed a predetermined value; and c) a number of the determined positions of the other motor vehicle, which are located ahead of the current position of the own motor vehicle, exceeds a predetermined minimum number. The control system is at least adapted and determined to estimate a trajectory from the determined positions of the other motor vehicle if it was determined that a), b) and c) have been fulfilled. The control system is at least adapted and determined to select the other motor vehicle in order to follow this, based on a deviation measurement between the estimated trajectory of the other motor vehicle and a trajectory of the own motor vehicle.

Event detection system for analyzing and storing real-time other-user vehicle speed and distance

A vehicle event occurrence detection system of the present invention calculates a speed and a separation distance of other vehicle, displays information of one or two vehicles with a possibility of an accident on a screen in real time, and transmits it to an external device. Accordingly, when an actual accident occurs, an exact cause of the accident can be identified based on information before and after the accident. Since the information of the vehicles is stored in a storage, it can be reproduced and checked later.

PATH-CONDITIONED MOTION FORECASTING FOR VEHICLE MOTION PLANNING

Systems and methods of determining trajectories of an actor in an environment in which a vehicle is operating are provided. The method includes detecting an actor that may move within a scene in the environment by an object detection system of a vehicle in the environment, determining a kinematic history of the actor, and using context of the scene and the kinematic history of the actor to determine a plurality of reference polylines for the actor. The method further includes generating a contextual embedding of the kinematic history of the actor to generate a plurality of predicted trajectories of the actor, in which the generating conditions each of the predicted trajectories to correspond to one of the reference polylines. The method additionally includes using, by the vehicle, the plurality of predicted trajectories to plan movement of the vehicle. 1. A method of determining trajectories of an actor in an environment in which a vehicle is operating , the method comprising:by an object detection system of a vehicle that is moving in an environment, detecting an actor that may move within a scene in the environment;determining a kinematic history of the actor, wherein the kinematic history includes a measured path of movement of the actor;using context of the scene to determine a plurality of reference polylines for the actor, wherein each reference polyline defines a path along which the actor may travel within the scene over a time period according to the context of the scene;using the kinematic history of the actor to generate a plurality of predicted trajectories of the actor, in which the generating conditions each of the predicted trajectories to correspond to one of the reference polylines; andby the vehicle, using the plurality of predicted trajectories to plan movement of the vehicle.2. The method of claim 1 , further comprising constructing the predicted polylines from a directed lane graph.3. The method of claim 1 , wherein using the context of the ...

Vehicular control system with autonomous braking

A vehicular vision system includes a camera and a radar sensor disposed at the equipped vehicle. The system includes an electronic control unit (ECU) and, as the equipped vehicle travels along a road, the ECU, via processing of image data and processing of sensor data, determines other vehicles present on the road ahead of the equipped vehicle. The ECU, responsive to determining the presence of a plurality of other vehicles present on the road, fuses the image data captured by the camera and the sensor data captured by the radar sensor. The ECU, based on the fused data, determines a threat level for each vehicle of the plurality of other vehicles and, when the threat level for one or more vehicles of the plurality of other vehicles exceeds a threshold value, generates a braking command. The ECU transmits the braking command to a braking system of the equipped vehicle.

VEHICLE CONTROL SYSTEM

A vehicle control system to prevent a shortage of a braking force when temporarily stopping a vehicle during autonomous operation. The vehicle control system comprises: a prime mover; a drive wheel; a brake device that applies a brake torque to the drive wheel; an interrupting device that selectively allows a torque transmission the prime mover and the drive wheel; and a controller that operates a vehicle autonomously. The controller is configured to: detect a stop point; stop the vehicle temporarily at the stop point; disengage the interrupting device; and engages the interrupting device after confirming safety condition. 1. A vehicle control system , comprising:a prime mover;a drive wheel to which a torque is delivered from the prime mover to generate a driving force;a brake device that applies a brake torque to at least any one of wheels including the drive wheel;an interrupting device that is disposed on a torque transmission route between the prime mover and the drive wheel to allow torque transmission through the torque transmission route when engaged, and to interrupt torque transmission through the torque transmission route when disengaged; anda controller that operates a vehicle autonomously without requiring a driver to launch, stop, and turn the vehicle manually by controlling at least the prime mover, the brake device, and the interrupting device,wherein the controller is configured todetect a stop point at which the vehicle is ordered to stop temporarily,execute a braking control to stop the vehicle at the stop point when the stop point is detected,disengage the interrupting device while stopping the vehicle temporarily,confirm a safety condition based on information about an external condition when launching the vehicle from the stop point, while keeping the vehicle to stop and keeping disengagement of the interrupting device, andengage the interrupting device after confirming the safety condition.2. The vehicle control system as claimed in claim 1 , ...

OVERTURN-NOTIFICATION-RIDER-INFORMING-DEVICE AND LEANING VEHICLE

An overturn-notification-rider-informing-device includes: an acquisition section that acquires notification preparation information indicating that a leaning-vehicle-overturn-notification-system is preparing to notify of overturn occurrence information to outside of the leaning vehicle, or notification completed information indicating that the leaning-vehicle-overturn-notification-system has notified of the overturn occurrence information to outside of the leaning vehicle; and an actuation section that, based on the notification preparation information or the notification completed information, causes light to be radiated or sound to be generated by actuating at least one component among a front light and the like in an operating state that is different from an operating state of the relevant component at a time when, or immediately before, the leaning vehicle changes from a travelling state to an overturned state, and thereby informs of the overturn notification state to the rider. 1. An overturn-notification-rider-informing-device applied to a leaning-vehicle-overturn-notification-system ,the leaning-vehicle-overturn-notification-system being configured to notify of overturn occurrence information indicating that a leaning vehicle changed from a travelling state to an overturned state to outside of the leaning vehicle by radio communication,the overturn-notification-rider-informing-device being mounted in the leaning vehicle, the leaning vehicle comprising:a vehicle body that leans left when turning left and leans right when turning right; andat least one of a front light that illuminates an area in front of the vehicle body when the vehicle body is in an upright state, indicators, a back light, a meter panel, an image display section, a horn or a buzzer;the overturn-notification-rider-informing-device comprising:a leaning-vehicle-overturn-notification-information-acquisition-section that acquires notification preparation information indicating that the leaning- ...

Vehicle driving support system

Disclosed is a vehicle driving support system which comprises an obstacle detection part configured to detect an obstacle, and a collision avoidance support part configured to, when the obstacle detection part detects the obstacle, start, at a notification start time, alert notification by an alert sound, wherein the collision avoidance support part further comprises: a target traveling course calculation part configured to calculate a first target traveling course L 1 for allowing the vehicle to maintain traveling within a traveling road; and a predicted traveling course calculation part configured to calculate a predicted traveling course L 3 based on a traveling behavior of the vehicle, wherein the collision avoidance support part is configured, when a difference between the first target traveling course L 1 and the predicted traveling course L 3 is equal to or less than a threshold, to delay the notification start time.

OTHER LANE MONITORING DEVICE

An other lane monitoring device of the present disclosure includes an other vehicle acquisition section, a path acquisition section, a lane estimation section, and a position estimation section. The other vehicle acquisition section is configured to acquire other vehicle position information that indicates the current position of an other vehicle near the own vehicle. The path acquisition section is configured to acquire an own vehicle travel path that indicates a path along which the own vehicle has traveled. The lane estimation section is configured to use the own vehicle travel path as a basis for estimating an other lane area that is a lane where the other lane is present, the other lane being different from an own lane where the own vehicle is present. The position estimation section is configured to estimate a future position of the other vehicle indicated by the other vehicle position information, assuming that the other vehicle moves along the own vehicle travel path or in the other lane area. 1. An other lane monitoring device installed in an own vehicle , comprising:an another vehicle acquisition section configured to acquire other vehicle position information that includes a current position of an other vehicle near the own vehicle;a path acquisition section configured to acquire an own vehicle travel path that indicates a path along which the own vehicle has traveled;a lane estimation section configured to estimate an other lane area where an other lane is present, the other lane being different from an own lane where the own vehicle is present; anda position estimation section configured to estimate a future position of the other vehicle indicated by the other vehicle position information, assuming that the other vehicle moves along the own vehicle travel path or in the other lane area.2. The other lane monitoring device according to claim 1 , whereinthe position estimation section is configured to iterate estimation of a future position of the other ...

METHOD AND DEVICE FOR DETERMINING AN OPTIMIZED CONTROL STRATEGY OF A MOBILE AGENT IN A DYNAMIC OBJECTS ENVIRONMENT

A computer-implemented method for determining an appropriate control strategy for a mobile agent for an environment with one or more dynamic objects. The method includes: providing a number of different scenarios wherein to each of the scenarios a number of dynamic objects is associated, wherein for each of the scenarios, each of the dynamic objects is associated with a start, a goal and a behavior specification; providing a number of control strategy candidates for the mobile agent; benchmarking each of the control strategy candidates in any of the scenarios; selecting the control strategy for the mobile agent depending on the result of the benchmarking of the control strategy candidates. 1. A computer-implemented method for determining an appropriate control strategy for a mobile agent for an environment with one or more dynamic objects , comprising the following steps:providing a number of different scenarios, wherein, to each of the scenarios a number of dynamic objects is associated, wherein for each of the scenarios, each of the dynamic objects is associated with a start, a goal, and a behavior specification;providing a number of control strategy candidates for the mobile agent;benchmarking each of the control strategy candidates in any of the scenarios; andselecting a control strategy for the mobile agent depending on a result of the benchmarking of the control strategy candidates.2. The method according to claim 1 , wherein each of the control strategy candidates applies a cost function or is rule-based to optimize a motion trajectory for the mobile agent in the environment with the dynamic objects.3. The method according to claim 1 , wherein the benchmarking of each respective control strategy candidate of the control strategy candidates in every scenario is performed depending on results of optimization problems to reflect behaviors of each dynamic object the mobile agent may face during application of the respective control strategy candidate in the ...

SENSOR INTEGRATION BASED PEDESTRIAN DETECTION AND PEDESTRIAN COLLISION PREVENTION APPARATUS AND METHOD

An apparatus includes a front detection sensor detecting presence of a pedestrian on a driving lane of the vehicle, gaze information of the pedestrian, and a distance and a relative speed between the pedestrian and the vehicle; a vehicle sensor detecting at least one of a speed, an acceleration, a steering angle, a steering angular velocity, or a pressure of a master cylinder of the vehicle; an electronic control unit activating a function of a pedestrian detection and collision mitigation system based on information detected by the front detection sensor and the vehicle sensor; and a warning unit operated to inform a driver of a collision of the pedestrian with the vehicle by controlling the electronic control unit. 1. An apparatus for activating a pedestrian detection and collision mitigation system (PDCMS) of a vehicle , comprising:a front detection sensor detecting presence of a pedestrian on a driving lane of the vehicle, and a distance and a relative speed between the pedestrian and the vehicle;a vehicle sensor detecting at least one of a speed, an acceleration, a steering angle, a steering angular velocity, or a pressure of a master cylinder of the vehicle;an electronic control unit activating a function of the PDCMS when a collision of the pedestrian with the vehicle is expected based on information detected by the front detection sensor and the vehicle sensor; anda warning unit providing a driver with a warning of the collision of the pedestrian with the vehicle, a radar sensor detecting the pedestrian on the driving lane of the vehicle using a radio wave reflected from the pedestrian to generate radar detection information, and determining a moving speed of the pedestrian based on the relative speed between the pedestrian and the speed of the vehicle;', 'a far-infrared sensor imaging heat radiated from the pedestrian to generate far-infrared recognition information;', 'a camera sensor detecting the pedestrian on the driving lane of the vehicle to generate ...

AUTONOMOUS VEHICLE USER INTERFACE WITH PREDICTED TRAJECTORIES

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 road agent predicted trajectory both (1) exists behind an object, indicating travel behind the object, and (2) overlaps with the object, 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. 1. A system for generating trajectories for a vehicle user interface showing a driver's perspective view , the system comprising:one or more processors; anda memory communicably coupled to the one or more processors and storing: generate an ego-vehicle predicted trajectory for an ego-vehicle;', 'generate at least one road agent predicted trajectory for a road agent that is external to the ego-vehicle;', {'b': 1', '2, "determine that at least one road agent predicted trajectory both () exists behind an object, indicating travel behind the object, and () overlaps with the object, when displayed on the user interface showing a driver's perspective view; and"}, 'modify the at least one road agent predicted trajectory to remove the overlap;, 'a trajectory-prediction module including instructions that when executed by the one or more processors cause the one or more processors toa control module including instructions that, when executed by the one or more processors, cause the one or more processors to update the user interface to include any modified ...

AUTONOMOUS VEHICLE USER INTERFACE WITH PREDICTED TRAJECTORIES

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. 1. A system for generating trajectories for a vehicle user interface showing a driver's perspective view , the system comprising:one or more processors; anda memory communicably coupled to the one or more processors and storing: generate at least one road agent predicted trajectory for a road agent that is external to an ego-vehicle;', "determine that at least one road agent predicted trajectory protrudes from a display area and has an unknown direction of travel when displayed on the user interface showing a driver's perspective view; and", 'modify the at least one road agent predicted trajectory to provide an indication of direction;, 'a trajectory-prediction module including instructions that when executed by the one or more processors cause the one or more processors toa control module including instructions that, when executed by the one or more processors, cause the one or more processors to update the user interface to include any modified road agent predicted trajectory.2. The system according to claim 1 , wherein the instruction to provide an indication of direction comprises an instruction to ...

CHARACTERIZING A VEHICLE COLLISION

Described herein are examples of a system that processes information describing movement of a vehicle at a time related to a potential collision to reliably determine whether a collision occurred and/or one or more characteristics of the collision. In response to obtaining information regarding a potential collision, data describing movement of the vehicle before and/or after a time associated with the potential collision is analyzed to determine whether the collision occurred and/or to determine one or more collision characteristic(s). The analysis may be carried out at least in part using a trained classifier that classifies the vehicle movement data into one or more classes, where at least some the classes are associated with whether a collision occurred and/or one or more characteristics of a collision. If a collision is determined to be likely, one or more actions may be triggered based on the characteristic(s) of the collision. 1. A method comprising:detecting an acceleration event from an accelerometer included in a monitoring device that is installable in a vehicle, the acceleration event being indicative of a potential collision between the vehicle and an object;setting a time period from before and after the detected acceleration event;collecting additional data, other than the acceleration event, obtained during the time period;sending at least the additional data to a remote site having servers operated by a vendor of the monitoring device and that is remote from the vehicle for subsequent analysis; and,providing, from the remote site, the at least the additional data to an operator of a fleet of vehicles of which the vehicle is a member.2. The method of claim 1 , wherein setting a time period from before and after the detected acceleration event comprises setting a time period from before and after the detected acceleration event in response to the detected acceleration event.3. The method of claim 1 , further comprising communicating claim 1 , via ...

Multi-Model Switching On a Collision Mitigation System

Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes receiving data indicative of an operating mode of the vehicle, wherein the vehicle is configured to operate in a plurality of operating modes. The method includes determining one or more response characteristics of the vehicle based at least in part on the operating mode of the vehicle, each response characteristic indicating how the vehicle responds to a potential collision. The method includes controlling the vehicle based at least in part on the one or more response characteristics. 120.-. (canceled)21. A computer-implemented method for autonomous vehicle control , the method comprising:receiving, by a computing system comprising one or more computing devices, data indicative of an operating mode of the autonomous vehicle, the autonomous vehicle configured to operate in a plurality of operating modes associated with an autonomy computing system of the autonomous vehicle;determining, by the computing system, one or more response characteristics for reacting to a potential collision based at least in part on the operating mode of the autonomous vehicle and an operating mode of a collision mitigation system, each response characteristic indicative of a response by indicating how the collision mitigation system onboard the autonomous vehicle responds to the potential collision with an object in an environment proximate to the autonomous vehicle, wherein the collision mitigation system is separate from the autonomy system of the autonomous vehicle;sending, by the computing system, one or more control signals to one or more other systems onboard the autonomous vehicle based at least in part on the one or more response characteristics; andcontrolling, by the computing system, the autonomous vehicle based at least in part on the one or more control signals.22. The computer-implemented method of claim 21 , wherein the one or more ...

Operation of a Vehicle While Suppressing Fluctuating Warnings

Operating a host vehicle is described as including identifying remote vehicle information indicating a geospatial state and a kinematic state for a remote vehicle and identifying host vehicle information indicating a geospatial state and a kinematic state for the host vehicle. For a sequence of sampling points, a converging time to a converging location within a transportation network is determined based on the remote vehicle information and the host vehicle information. Operation of the host vehicle is modified to a modified operation responsive the converging time, having been above a first threshold, failing below the first threshold, and the modified operation of the host vehicle is maintained until the converging time remains above a second threshold higher than the first threshold for a defined number of contiguous sampling points of the sequence. A method, vehicle, and apparatus are described. 1. A method for operating a host vehicle , comprising:identifying remote vehicle information indicating a geospatial state and a kinematic state for a remote vehicle;identifying host vehicle information indicating a geospatial state and a kinematic state for the host vehicle;for a sequence of sampling points, determining a converging time to a converging location within a transportation network based on the remote vehicle information and the host vehicle information;modifying operation of the host vehicle to a modified operation responsive the converging time, having been above a first threshold, falling below the first threshold; andmaintaining the modified operation of the host vehicle until the converging time remains above a second threshold higher than the first threshold for a defined number of contiguous sampling points of the sequence.2. The method of claim 1 , further comprising:initializing a counter responsive to the converging time falling below the first threshold; andresponsive to the converging time exceeding the second threshold, incrementing the counter ...

PRIORITIZED CONSTRAINTS FOR A NAVIGATIONAL SYSTEM

Systems and methods are provided for navigating an autonomous vehicle using reinforcement learning techniques. In one implementation, a navigation system for a host vehicle may include at least one processing device programmed to: receive, from a camera, a plurality of images representative of an environment of the host vehicle; analyze the plurality of images to identify a navigational state associated with the host vehicle; provide the navigational state to a trained navigational system: receive, from the trained navigational system, a desired navigational action for execution by the host vehicle in response to the identified navigational state; analyze the desired navigational action relative to one or more predefined navigational constraints; determine an actual navigational action for the host vehicle, wherein the actual navigational action includes at least one modification of the desired navigational action determined based on the one or more predefined navigational constraints; and cause at least one adjustment of a navigational actuator of the host vehicle in response to the determined actual navigational action for the host vehicle. 135-. (canceled)36. A navigation system for a host vehicle , the system comprising: receive, from a camera, a plurality of images representative of an environment of the host vehicle;', 'analyze the plurality of images to identify a first object and a second object in the environment of the host vehicle;', 'determine a first predefined navigational constraint implicated by the first object and a second predefined navigational constraint implicated by the second object, wherein the first predefined navigational constraint and the second predefined navigational constraint cannot both be satisfied, and wherein the second predefined navigational constraint has a priority higher than the first predefined navigational constraint;', 'determine a navigational action for the host vehicle satisfying the second predefined navigational ...

COLLISION AVOIDANCE SYSTEM WITH TRAJECTORY VALIDATION

A vehicle may include a primary system and a secondary system to validate operation of the primary system and to control the vehicle to avoid collisions. For example, the secondary system may receive multiple trajectories from the primary system, such as a primary trajectory and a secondary, contingent, trajectory associated with a deceleration or other maneuver. The secondary system may determine if a trajectory is associated with a potential collision, if the trajectory is consistent with a current or previous pose, if the trajectory is compatible with a capability of the vehicle, etc. The secondary system may select the primary trajectory if valid, the secondary trajectory if the primary trajectory is invalid, or another trajectory generated by the secondary system if the primary trajectory and the secondary trajectory are invalid. If no valid trajectory is determined, the vehicle may decelerate at a maximum rate. 1 receive sensor data from one or more sensors; and', 'generate, based at least in part on the sensor data, a first trajectory for an autonomous vehicle and a second trajectory for the autonomous vehicle; and, 'a first system comprising one or more first processors and one or more first memories comprising instructions that, when executed by the one or more first processors, cause the one or more first processors to receive the first trajectory and the second trajectory from the first system;', 'receive at least a portion of the sensor data;', 'determine, based at least in part on the at least the portion of the sensor data, an object in an environment;', 'determine an object trajectory for the object;', 'perform first collision detection with the first trajectory and the object trajectory to determine a first state associated with the first trajectory;', 'perform second collision detection with the second trajectory and the object trajectory to determine a second state associated with the second trajectory;', 'determine, based at least in part on the ...

INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING METHOD, AND NON-TRANSITORY STORAGE MEDIUM

The present disclosure provides a technology that can preferably improve the usability when a user wearing a hearable device boards a vehicle. In an information processing device according to the present disclosure, a controller obtains a drive mode of a vehicle in which a user wearing the hearable device rides. When the drive mode of the vehicle is an automatic drive mode, the controller permits the operation mode of the hearable device to be set to a first mode. On the other hand, when the drive mode of the vehicle is a manual drive mode and a user wearing a hearable device is a user performing a drive operation of the vehicle, the controller sets the operation mode of the hearable device to a second mode. 1. An information processing device for controlling a hearable device switchable between a first mode that is an operation mode of making an external sound difficult to hear , and a second mode that is an operation mode of making the external sound easy to hear , the information processing device comprising a controller including at least one processor configured to execute:obtaining a drive mode of a vehicle in which a user wearing the hearable device rides;permitting the operation mode of the hearable device to be set to the first mode, when the drive mode of the vehicle is an automatic drive mode; andsetting the operation mode of the hearable device to the second mode when the user is a user performing a drive operation of the vehicle and the drive mode of the vehicle is a manual drive mode.2. The information processing device according to claim 1 , wherein the controller permits the operation mode of the hearable device to be set to the first mode when the user is a user not performing the drive operation of the vehicle and the drive mode of the vehicle is the manual drive mode.3. The information processing device according to claim 1 , wherein when a predetermined emergency situation is detected claim 1 , the controller sets the operation mode of the ...

IMPROVEMENTS IN VEHICLE SPEED CONTROL

Some embodiments of the invention provide a speed control system () for a vehicle (), comprising: torque control means () for automatically causing application of positive and negative torque, as required, to one or more wheels () of a vehicle () to cause a vehicle () to travel in accordance with a target speed value; path prediction means () for predicting a path PP of the vehicle () in a direction of travel; detection means () for detecting one or more objects () ahead of the vehicle (); determining means () to determine whether one or more objects () detected by the detection means () lie outside the predicted path (PP); and control means () configured to, if said one or more detected objects () are determined to lie outside the predicted path (PP), automatically temporarily reduce the vehicle speed in dependence at least in part on a distance of the one or more detected objects () from the predicted path (PP). 1. A control system for a vehicle , comprising:torque control means for automatically causing application of positive and negative torque, as required, to one or more wheels of a vehicle to cause a vehicle to travel in accordance with a target speed value;path prediction means for predicting a path of the vehicle in a direction of travel;detection means for detecting one or more objects ahead of the vehicle;determining means to determine whether one or more objects detected by the detection means lie outside the predicted path; andcontrol means configured to, if said one or more detected objects are determined to lie outside the predicted path, automatically temporarily reduce the vehicle speed in dependence at least in part on a distance of the one or more detected objects from the predicted path;wherein reducing the vehicle speed comprises the control means limiting the vehicle speed to a speed limit value, and wherein said predetermined speed limit value is determined at least in part in dependence on the distance of the one or more detected objects ...

PORTABLE PLUG AND PLAY COLLISION AVOIDANCE DEVICE

A portable plug and play collision avoidance device includes a processor, a positioning receiver, and a communication module. The communication module is electrically connected with the processor for transmitting message packets to other carriers or receiving message packets from other carriers. The portable plug and play collision avoidance device further includes a transmission interface, such that in case the processor determines that the carrier is located at a collision trajectory of another carrier, the processor will output a notice signal transmitted, through the transmission interface to a receiving interface of the carrier; or through the transmission interface to a receiving interface of a mobile device so as to achieve the purpose of early warning. As such, an instant location information and trajectory warning can be provided to various kinds of displays so as to change the user's travelling path instantly, and to secure the user's safety. 1. A portable plug and play collision avoidance device , carried on a carrier , comprising:a processor;a positioning receiver, electrically connected with the processor for receiving signals transmitted from satellites; anda communication module, electrically connected with the processor for transmitting message packets to other carriers or receiving message packets from other carriers;wherein, the portable plug and play collision avoidance device further comprises a transmission interface, such that in case the processor determines that the carrier is located at a collision trajectory of another carrier, the processor will output a notice signal transmitted, through the transmission interface to a receiving interface of the carrier; or through the transmission interface to a receiving interface of a mobile device so as to achieve the purpose of early warning.2. The portable plug and play collision avoidance device as claimed in claim 1 , wherein the positioning receiver includes a positioning antenna for enhancing ...

Technologies To Facilitate Automated Driving Assistance Based On Objects Sensed And Reported By Remote Senders

In an automated method for providing driving assistance, an electronic control unit (ECU) of a first driving assistance system of a first vehicle receives local object information from at least one sensing component of the first driving assistance system. The first driving assistance system automatically detects external objects outside of the first vehicle, based on the local object information received from the at least one sensing component. The first driving assistance system also receives a reported object list (ROL) from a second vehicle, wherein the ROL describes objects detected by a second driving assistance system in the second vehicle. The first driving assistance system also affects operation of the first vehicle, based on (a) the external objects detected by the first vehicle and (b) the ROL from the second vehicle. Other embodiments are described and claimed.

AUTONOMOUS VEHICLE USED AS GOLF CADDIE AND CART

A method for using an autonomous vehicle as a caddie and cart. The method includes selecting caddie mode from a group including a caddie mode and a cart mode, selecting a mode in the caddie mode from a group including a caddie advice mode, a swing detection mode, and a golf ball detection mode. In another embodiment, the method includes selecting the cart mode and selecting a mode in the cart mode from a group including a follow golfer mode, a ride mode, and a golf ball mode. The autonomous vehicle includes a vehicle frame and a body, a vehicle propulsion unit, a plurality of wheels driven by the vehicle propulsion unit, a controller for selecting a mode of operation, a display for communicating data to the golfer, a camera for supplying data to the controller, and a GPS apparatus for determining a position of the autonomous vehicle. 1. A method for providing golf caddie and cart services to a golfer using an autonomous vehicle , the golfer playing with a golf ball and a plurality of golf clubs , comprising the steps of:selecting a caddie mode from a group comprising (1) the caddie mode and (2) a cart mode;selecting a mode in the caddie mode selected from a group comprising (1) a caddie advice mode, (2) a swing detection mode, and (3) a golf ball detection mode; andselecting the cart mode.2. The method of wherein the caddie mode further comprises the steps of:activating a camera on the autonomous vehicle; anddetecting the golfer.3. The method of wherein the caddie advice mode further comprises the steps of:detecting a direction and speed of wind;detecting a distance from the golf ball to a pin located on a green of a golf hole;detecting if an obstacle is present between the golfer and the pin; andproviding a selection of a golf club from the plurality of golf clubs to the golfer.4. The method of wherein the step of providing a selection of the golf club from the plurality of golf clubs is based upon the direction and the intensity of wind claim 3 , the distance from ...

FEASIBILITY VALIDATION FOR VEHICLE TRAJECTORY SELECTION

The present disclosure is directed to performing one or more validity checks on potential trajectories for a device, such as an autonomous vehicle, to navigate. In some examples, a potential trajectory may be validated based on whether it is consistent with a current trajectory the vehicle is navigating such that the potential and current trajectories are not too different, whether the vehicle can feasibly or kinematically navigate to the potential trajectory from a current state, whether the potential trajectory was punctual or received within a time period of a prior trajectory, and/or whether the potential trajectory passes a staleness check, such that it was created within a certain time period. In some examples, determining whether a potential trajectory is feasibly may include updating a set of feasibility limits based on one or more operational characteristics of statuses of subsystems of the vehicle. 1. An autonomous vehicle monitoring system , comprising:one or more processors; and obtain a set of feasibility limits for movement of an autonomous vehicle;', 'receive a current state of the autonomous vehicle;', 'receive a potential trajectory for validation;', 'determine kinematics of the autonomous vehicle to travel to the potential trajectory from the current state;', 'determine a validity signal indicating whether the kinematics satisfy the set of feasibility limits by comparing the kinematics to the feasibility limits; and', 'cause the autonomous vehicle to operate according to the potential trajectory based at least in part on the validity value., 'memory that stores instructions which, when executed by the one or more processors, cause the system to2. The system of claim 1 , wherein the set of feasibility limits comprises at least one of a maximum velocity of the autonomous vehicle claim 1 , a maximum deceleration of the autonomous vehicle in a first direction claim 1 , a maximum acceleration of the autonomous vehicle in the first direction claim 1 , a ...

ENHANCED THREAT SELECTION

A computer includes a processor and a memory, the memory storing instructions executable by the processor to predict a heading angle of a target vehicle, determine a distance between a host vehicle and a center line of the target vehicle based on the predicted heading angle, and perform a threat assessment for the target vehicle when the distance is below a threshold. 1. A system , comprising a computer including a processor and a memory , the memory storing instructions executable by the processor to:predict a heading angle of a target vehicle;determine a distance between a host vehicle and a center line of the target vehicle based on the predicted heading angle; andperform a threat assessment for the target vehicle when the distance is below a threshold.2. The system of claim 1 , wherein the instructions further include instructions to determine a lateral distance between the host vehicle and a lateral center line of the target vehicle and a longitudinal distance between the host vehicle and a longitudinal center line of the target vehicle and to perform the threat assessment when the lateral distance is below a lateral distance threshold and the longitudinal distance is below a longitudinal distance threshold.3. The system of claim 2 , wherein the lateral center line and the longitudinal center line intersect at a center of the target vehicle.4. The system of claim 1 , wherein the instructions further include instructions to determine respective distances between a plurality of points on the host vehicle and the center line of the target vehicle.5. The system of claim 4 , wherein the plurality of points are corner points of the host vehicle.6. The system of claim 4 , wherein the instructions further include instructions to perform the threat assessment when at least one of the plurality of points has a respective distance that is below the threshold.7. The system of claim 1 , wherein the instructions further include instructions to identify a plurality of target ...

EFFICIENT INFERENCE UPDATE USING BELIEF SPACE PLANNING

An autonomous system comprising: at least one hardware processor; a sensors module; and a non-transitory computer-readable storage medium having stored thereon program instructions, the program instructions executable by the at least one hardware processor to: receive, from said sensors module, a set of measurements associated with a joint state of said autonomous system, infer, based, at least in part, on said set of measurements, a current belief regarding said joint state of said autonomous system, determine a control action based on said inference, wherein said determining comprises calculating a future belief regarding a future joint state of said autonomous system, wherein said future joint state is as a result of said control action, execute said control action, and generate a new inference based, at least in part, on said future belief, wherein said future belief is updated based on a new set of measurements from said sensors module. 1. An autonomous system comprising:at least one hardware processor;a sensors module; and receive, from said sensors module, a set of measurements associated with a joint state of said autonomous system,', 'infer, based, at least in part, on said set of measurements, a current belief regarding said joint state of said autonomous system,', 'determine a control action based on said inference, wherein said determining comprises calculating a future belief regarding a future joint state of said autonomous system, wherein said future joint state is as a result of said control action,', 'execute said control action, and', 'generate a new inference based, at least in part, on said future belief, wherein said future belief is updated based on a new set of measurements from said sensors module., 'a non-transitory computer-readable storage medium having stored thereon program instructions, the program instructions executable by the at least one hardware processor to2. The autonomous system of claim 1 , wherein said control action ...

RECOGNITION AND PREDICTION OF LANE CONSTRAINTS AND CONSTRUCTION AREAS IN NAVIGATION

Systems and methods use cameras to provide autonomous and/or driver-assist navigation features. In some implementations, techniques for predicting the location of first roadway lane constraints are provided. The system may receive multiple images of a roadway in a vicinity of a vehicle, recognize a first roadway lane constraint, and, when lane prediction conditions are determined to be satisfied, predict a location of a second roadway lane constraint. In some implementations, techniques for detecting and responding to construction zones are provided. The system may receive multiple images of a roadway in a vicinity of a vehicle, recognize indicators of a construction zone in the images, determine that the vehicle is proximate to a construction zone, and output a signal indicating that the vehicle is proximate to a construction zone. 1. A device mountable on a vehicle , comprising:a camera adapted to capture, when mounted on the vehicle, and while the vehicle is in motion, multiple images of a roadway within a field of view of the camera; obtain the multiple images from the camera;', 'apply image processing to the multiple images to recognize a first roadway lane constraint appearing in at least one of the multiple images;', 'determine, based on the multiple images, that one or more defined lane prediction conditions are satisfied;', 'in accordance with a determination that one or more defined lane prediction conditions are satisfied, predict a location of a second roadway lane constraint;', 'issue a notification or a control signal to control a motion of the vehicle according to the predicted location of the second roadway lane constraint., 'a processor configured to2. The device according to claim 1 , wherein the processor is configured to issue a notification or a control signal to direct a motion of the vehicle according to a location of the first roadway lane constraint.3. The device according to claim 1 , wherein the processor is configured to issue a ...

METHOD FOR PROVIDING AN OBJECT PREDICTION REPRESENTATION

A method is for providing an object prediction representation. In an embodiment, the method includes simulating movement of a host vehicle and an object in a longitudinal-lateral coordinate system based on their initial positions at the starting time and a movement of the host vehicle and determined movement of the object. Points in time when at least one reference point of the host vehicle and an object reference point of a plurality of object reference points have the same longitudinal position are detected. Further, for each detected point in time, an associated lateral position of the object reference point at the detected point in time is detected. 1. A method for providing an object prediction representation , the method comprising:establishing a host vehicle in a longitudinal-lateral coordinate system at a starting time, the host vehicle being represented by at least one reference point in the coordinate system;detecting an object, and establishing the object in the coordinate system at the starting time, the object being represented by a plurality of object reference points along the perimeter of the object, wherein movement of the object is determined;simulating movement of the host vehicle and the object in the longitudinal-lateral coordinate system based on respective initial positions of the host vehicle and the object at the starting time and a movement of the host vehicle and the determined movement of the object, wherein points in time when the at least one reference point of the host vehicle and an object reference point of the plurality of object reference points have the same longitudinal position are detected, and wherein for each detected point in time an associated lateral position of the object reference point at the detected point in time is detected; andestablishing the object prediction representation in a time-lateral domain based on the detected points in time and the associated lateral positions.2. The method of claim 1 , wherein the at ...

COLLISION AVOIDANCE SYSTEM FOR VEHICLE

A collision avoidance system includes a plurality of cameras disposed at a vehicle, and an electronic control unit that includes an image processor operable to process image data captured by the cameras. A plurality of other sensors sense at least one of rearward and sideward of the equipped vehicle and capture sensor data. The collision avoidance system may determine imminence of collision with the equipped vehicle by another vehicle present exterior the equipped vehicle responsive at least in part to (a) image processing by the image processor of image data captured by a forward-viewing camera, a rearward-viewing camera, a driver side-viewing camera and/or a passenger side-viewing camera, and (b) radar data sensed by the plurality of other sensors, lidar data sensed by at least one lidar sensor of said plurality of other sensors and/or information transmitted to or from the equipped vehicle via a car2car (v2v) communication system. 1. A collision avoidance system suitable for use in a vehicle , said collision avoidance system comprising:a plurality of cameras disposed at a vehicle equipped with said collision avoidance system, each having a field of view exterior of the equipped vehicle;said cameras comprising a forward-viewing camera disposed at the equipped vehicle, said forward-viewing camera having a field of view at least forward of the equipped vehicle;wherein the field of view of said forward-viewing camera at least encompasses (i) a traffic lane the equipped vehicle is travelling along and (ii) at least one traffic lane that is adjacent to the traffic lane the equipped vehicle is traveling along;said cameras comprising a rearward-viewing camera disposed at the equipped vehicle, said rearward-viewing camera having a field of view rearward of the equipped vehicle;wherein the field of view of said rearward-viewing camera encompasses (i) the traffic lane the equipped vehicle is travelling along and (ii) at least one traffic lane that is adjacent to the traffic ...

METHOD AND APPARATUS FOR VISUALIZING FUTURE EVENTS FOR PASSENGERS OF AUTONOMOUS VEHICLES

An approach is provided for visualizing future events to a passenger of a vehicle. The approach involves collecting sensor data, contextual data, or a combination thereof during an operation of a vehicle. The approach also involves processing the sensor data, the contextual data, or a combination thereof to predict a future event that is expected to occur proximate to the vehicle. The approach further involves generating a simulation of the future event. The approach further involves presenting the simulation in a user interface 1. A computer-implemented method comprising:collecting, by one or more processors, sensor data, contextual data, or a combination thereof during an operation of a vehicle;processing, by the one or more processors, the sensor data, the contextual data, or a combination thereof to predict a future event that is expected to occur proximate to the vehicle, wherein the future event involves a change of context of at least one object external to the vehicle;generating a simulation of the future event; andbefore the future event occurs, performing, by the one or more processors, one or more of:(i) causing one or more displays to display the simulation of the future event in the vehicle,(ii) causing one or more speakers to output audio in the vehicle in accordance with the simulation of the future event, or(iii) causing one or more physical actuators in the vehicle to actuate in accordance with the simulation of the future event.2. The method of claim 1 , further comprising:determining that the object will be proximate to the vehicle based on a relevance level of the object to the user in the vehicle,wherein the change of the context of the object is presented via the one or more displays, the one or more speakers, the one or more physical actuators, or a combination thereof.3. The method of claim 2 , wherein the object is presented in the vehicle while physically located outside of a field of view of a user in the vehicle claim 2 , and the future ...

INTERMEDIATE VEHICLE REPEATER FOR OUT OF RANGE VEHICLES

Vehicle-to-vehicle (V2V) communication through short range communication techniques can be extended by sending messages from a host vehicle to a target vehicle using an intermediate vehicle. The host vehicle identifies road conditions which may be of interest to a target vehicle. An intermediate vehicle relays the message detailing the identified road conditions from the host vehicle to the target vehicle. The message can be rebroadcast by the intermediate vehicle to target vehicles in its communication range, or it can generate a new message to transmit the information to target vehicles. 1. A method comprising:obtaining data on road conditions containing at least a first vehicle and a second vehicle, at a third vehicle;sending the obtained data on the road conditions from the third vehicle to the first vehicle;identifying a triggering condition within the obtained data on the road conditions, at the first vehicle, wherein the triggering condition affects at least one of: the first vehicle and the second vehicle;determining a location of the first vehicle relative to a location of the second vehicle is outside a communications threshold, at the third vehicle; andsending a message detailing the triggering condition from the first vehicle to the second vehicle by using the third vehicle as a relay.2. The method of claim 1 , wherein determining the location of the first vehicle relative to the location of the second vehicle is outside the communications threshold claim 1 , comprises:establishing a first connection between the third vehicle to the first vehicle; andestablishing a second connection between the third vehicle to the second vehicle.3. The method of claim 1 , wherein identifying the triggering condition claim 1 , comprises:analyzing the obtained data to identify a portion of the road conditions contributing to the triggering condition;processing state dynamics of the second vehicle;determining a communication blockage between the first vehicle and the ...

Driving assistance device and driving assistance method

A driving assistance device includes a driving situation acquisition unit that acquires driving situations of vehicles that may collide with each other, a driving characteristics acquisition unit that acquires driving characteristics of drivers of the vehicles, a driving action determination unit that determines driving actions that allow the vehicles to avoid collision with each other in the driving situation acquired by the driving situation acquisition unit and that match the driving characteristics acquired by the driving characteristics acquisition unit, and a driving action instruction unit that instructs the vehicles about the driving actions determined by the driving action determination unit.

DRIVING ASSISTANCE DEVICE

A driving assistance device includes a travel information acquisition unit, a first information acquisition unit, a second information acquisition unit, a collision determination unit, a driving control unit, a presence determination unit, and an early control unit. When the presence determination unit determines that a moving object is present ahead of the own vehicle in its traveling direction in a case where the moving object is not detected by a detection device which is mounted on the own vehicle, the early control unit performs early control for advancing a timing at which the moving object is detected by the detection device and the driving control unit performs control so that the own vehicle performs avoidance driving action. 1. A driving assistance device comprising:a travel information acquisition unit configured to acquire at least a position and a vehicle speed of an own vehicle as travel information on the own vehicle;a first information acquisition unit configured to acquire, as first movement information on a moving object around the own vehicle, at least a position and a speed of the moving object from a detection device which is mounted on the own vehicle;a second information acquisition unit configured to acquire, as second movement information on the moving object, at least a position and a speed of the moving object from an external device which is provided outside the own vehicle;a collision determination unit configured to determine, on a basis of the travel information acquired by the travel information acquisition unit and the first movement information acquired by the first information acquisition unit, whether the own vehicle is likely to collide with the moving object;a driving control unit configured to control driving of the own vehicle so that the own vehicle performs avoidance driving action, in order to avoid a collision between the own vehicle and the moving object, when the collision determination unit determines that the own ...

TRANSPORTATION VEHICLE CONTROL DEVICE AND METHOD FOR DETERMINING AVOIDANCE TRAJECTORIES FOR A COLLISION-FREE AVOIDANCE MANEUVER OF MULTIPLE TRANSPORTATION VEHICLES

A method for determining avoidance trajectories for a collision-free avoidance maneuver of transportation vehicles, wherein trajectory data describing a collection of possible driving trajectories is received from at least one trajectory generator for each transportation vehicle in real time, and a respective avoidance trajectory is determined in real time for each transportation vehicle based on the collection of possible driving trajectories for that transportation vehicle. For each transportation vehicle, the driving trajectories are divided into groups, and each group is represented by a single respective group trajectory. In at least one combination operation, each of the group trajectories of each transportation vehicle is selected and a resulting driving maneuver is checked based on the selected group trajectories to determine if the driving maneuver fulfils a predetermined optimization criterion, and the avoidance trajectories are determined based on the group trajectories of a combination operation with a fulfilled optimization criterion. 1. A method for determining avoidance trajectories for a collision-free avoidance maneuver of a plurality of transportation vehicles wherein a control device performs the method comprising:receiving, from at least one trajectory generator, trajectory data for each motor vehicle of the plurality of transportation vehicles, the trajectory data describing a family of possible driving trajectories of the respective transportation vehicle;determining a respective avoidance trajectory based on the family of possible driving trajectories for each transportation vehicle, so that the collision-free maneuver is obtained from a combination of the determined avoidance trajectories; andclassifying, in a classification operation, the family of driving trajectories for each transportation vehicle are classified into groups, each of which comprising a plurality of the driving trajectories,wherein each group is represented by a single ...

Evaluating risk factors of proposed vehicle maneuvers using external and internal data

Apparatuses and methods for evaluating the risk factors of a proposed vehicle maneuver using remote data are disclosed. In embodiments, a computer-assisted/autonomous driving vehicle communicates with one or more remote data sources to obtain remote sensor data, and process such remote sensor data to determine the risk of a proposed vehicle maneuver. A remote data source may be authenticated and validated, such as by correlation with other remote data sources and/or local sensor data. Correlation may include performing object recognition upon the remote data sources and local sensor data. Risk evaluation is performed on the validated data, and the results of the risk evaluation presented to a vehicle operator or to an autonomous vehicle navigation system.

MULTI-THRESHOLD REACTION ZONE FOR AUTONOMOUS VEHICLE NAVIGATION

Systems and methods use cameras to provide autonomous navigation features. In one implementation, a driver assist navigation system for a primary vehicle may include at least one image capture device configured to acquire a plurality of images of an area in a vicinity of the primary vehicle; a data interface; and at least one processing device. The at least processing device may be configured to: receive the plurality of images via the data interface; identify a target object within the plurality of images; monitor, via the plurality of images, a motion of the target object and a distance between the primary vehicle and the target object; determine an indicator of an intercept time between the primary vehicle and the target object based on the monitored motion and the distance between the primary vehicle and the target object; and cause a response in the primary vehicle based on a comparison of the intercept time to a plurality of predetermined intercept thresholds. 1. A driver assist navigation system for a primary vehicle , the system comprising:at least one camera configured to acquire a plurality of images of an area in a vicinity of the primary vehicle;a data interface; and receive the plurality of images via the data interface;', 'identify a target object within the plurality of images;', 'monitor, via the plurality of images, a motion of the target object and a distance between the primary vehicle and the target object;', 'determine an indicator of an intercept time between the primary vehicle and the target object based on the monitored motion and the distance between the primary vehicle and the target object; and', 'cause a response in the primary vehicle when the indicator of the intercept time indicates that the target object is within the predetermined intercept threshold., 'at least one processing device configured to2. The driver assist navigation system of claim 1 , wherein the target object is a target vehicle traveling in a lane different from the ...

METHOD AND APPARATUS OF PREDICTING COLLISION FOR OMNIDIRECTIONAL APPLICATION WITHIN EMERGENCY BRAKE SYSTEM

A method and an apparatus for predicting a collision are provided. The method includes calculating, by a controller, a driving trajectory of the subject vehicle based on a yaw rate using driving information of the subject vehicle. In addition, the controller is configured to calculate a driving trajectory of a target vehicle for a predetermined period of time that uses driving information of the target vehicle that includes information from an imaging device, configured to obtain a front image, and radar sensors installed on a plurality of locations. Further, the method also includes predicting classified collision types by analyzing a collision possibility between the subject vehicle and the target vehicle based on the driving trajectory of the subject vehicle and the driving trajectory of the target vehicle. 1. A method for predicting a collision with a target vehicle by a subject vehicle , comprising:calculating, by a controller, a driving trajectory of the subject vehicle based on a yaw rate using driving information of the subject vehicle;calculating, by the controller, a driving trajectory of a target vehicle for a predetermined period of time using driving information of the target vehicle including information from an imaging device mounted on the subject vehicle for obtaining a front image and information from a plurality of radar sensors mounted on the subject vehicle; andpredicting, by the controller, classified collision types by analyzing a collision possibility between the subject vehicle and the target vehicle based on the driving trajectory of the subject vehicle and the driving trajectory of the target vehicle, analyzing, by the controller, the driving information of the target vehicle as the driving trajectory of the target vehicle;', 'estimating, by the controller, a velocity, an acceleration, and a yaw rate of the target vehicle; and', 'calculating, by the controller, locations of the target vehicle at a predetermined time unit based on the ...

Autonomous Vehicles Featuring Machine-Learned Yield Model

The present disclosure provides autonomous vehicle systems and methods that include or otherwise leverage a machine-learned yield model. In particular, the machine-learned yield model can be trained or otherwise configured to receive and process feature data descriptive of objects perceived by the autonomous vehicle and/or the surrounding environment and, in response to receipt of the feature data, provide yield decisions for the autonomous vehicle relative to the objects. For example, a yield decision for a first object can describe a yield behavior for the autonomous vehicle relative to the first object (e.g., yield to the first object or do not yield to the first object). Example objects include traffic signals, additional vehicles, or other objects. The motion of the autonomous vehicle can be controlled in accordance with the yield decisions provided by the machine-learned yield model.

SYSTEM AND METHOD FOR DETECTING A RISK OF COLLISION BETWEEN A MOTOR VEHICLE AND A SECONDARY OBJECT LOCATED IN THE TRAFFIC LANES ADJACENT TO SAID VEHICLE WHEN CHANGING LANES

A method detects a risk of collision between a motor vehicle and a secondary object located in traffic lanes adjacent to the main traffic lane of the vehicle, in the event of a lane change by the vehicle, which involves detecting objects in a predetermined danger zone, and estimating a time-to-collision between the vehicle and a detected object. Detecting objects in a danger zone involves: calculating the actual distance between the vehicle and each object detected by the radar, the actual distance corresponding to the length of an arc between two points; determining a danger zone as a function of lines of the main traffic lane and a width of the main traffic line; and checking, for each object detected by the radar, whether its coordinates are inside the predetermined danger zone. 111-. (canceled)12. A system for detecting a risk of collision between a motor vehicle and a secondary object situated in traffic lanes adjacent to a main traffic lane of said motor vehicle , in the event of said motor vehicle changing lane , said motor vehicle comprising detection means comprising at least one perception sensor directed onto the main lane , and configured to acquire coefficients of lane boundary lines necessary to virtually reconstruct the main lane , and at least one frontal or lateral radar to detect coordinates of each secondary object situated in a field of view of the radar , the system for detecting a risk of collision comprising:a module for detecting secondary objects in a determined danger area and including a module for calculating an actual distance between the motor vehicle and each object detected by the radar corresponding to a length of a segment between two points, a module for determining a danger area based on the boundary lines of the main lane and a width of the main lane, and a module for checking, for each object detected by the radar, whether coordinates of the object are situated in the danger area determined beforehand, and to transmit a flag ...

COLLISION PREDICTION AND AVOIDANCE FOR VEHICLES

Techniques and methods for providing additional safety for interactions with pedestrians. For instance, a vehicle may identify a region through which the vehicle and agent (such as a pedestrian) pass. The vehicle may determine a time buffer value and/or a distance buffer value based on the vehicle and the agent passing through the region. The vehicle may determine a time threshold and/or a distance threshold for passing through the region in the presence of the agent. The time threshold and/or the distance threshold may be based on a velocity of the vehicle, a safety factor, a hysteresis factor, a comfort factor, and/or an assertiveness factor. If the time buffer value is below the time threshold and/or the distance buffer value is below the distance threshold, the vehicle may yield to the agent. Otherwise, the vehicle may not yield to the agent within the region. 1. An autonomous vehicle comprising:one or more processors; and determining a region in an environment through which the autonomous vehicle and an object pass based at least in part on a trajectory of the autonomous vehicle and a trajectory of the object, the region including an area of potential collision between the autonomous vehicle and the agent;', a time buffer value indicating a predicted difference in time between the autonomous vehicle being located within the region and the object being located within the region; or', 'a distance buffer value indicating a predicted distance between the autonomous vehicle and the region when the object is located within the region or between the object and the region when the vehicle is located within the region;, 'determining, based at least in part on the region, at least one of, 'determining a threshold based at least in part on a safety factor value associated with navigating the autonomous vehicle and a velocity of the autonomous vehicle;', 'determining whether the at least one of the time buffer value or the distance buffer value is less than the threshold; ...

POLYLINE CONTOUR REPRESENTATIONS FOR AUTONOMOUS VEHICLES

Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode or an autonomous vehicle. For instance, a polygon representative of the shape and location of a first object may be received. A polyline contour representation of a portion of a polygon representative of the shape and location of a second object may be received. The polyline contour representation may be in half-plane coordinates and including a plurality of vertices and line segments. Coordinates of the polygon representative of the first object may be converted to the half-plane coordinate system. A collision location between the polyline contour representation and the polygon representative of the first object may be determined using the converted coordinates. The autonomous vehicle may be controlled in the autonomous driving mode to avoid a collision based on the collision location. 1. A method of controlling a vehicle having an autonomous driving mode , the method comprising:receiving a polygon representative of the shape and location of an object detected in an environment of the autonomous vehicle;accessing a polyline contour representation of the autonomous vehicle representing no more than half of a contour of the autonomous vehicle in a half-plane coordinate system, the polyline contour representation including a plurality of vertices and line segments;converting coordinates of the polygon representative of the object to the half-plane coordinate system;determining a collision location between the polyline contour representation and the polygon representative of the object using the converted coordinates; andcontrolling the autonomous vehicle in the autonomous driving mode to avoid a collision with the object based on the collision location.2. The method of claim 1 , wherein the polyline contour representation is defined as a vehicle width profile drawn from the autonomous vehicle's front bumper to the autonomous vehicle's rear bumper.3. The method of claim 2 , ...

POLYLINE CONTOUR REPRESENTATIONS FOR AUTONOMOUS VEHICLES

Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode or an autonomous vehicle. For instance, a polygon representative of the shape and location of a first object may be received. A polyline contour representation of a portion of a polygon representative of the shape and location of a second object may be received. The polyline contour representation may be in half-plane coordinates and including a plurality of vertices and line segments. Coordinates of the polygon representative of the first object may be converted to the half-plane coordinate system. A collision location between the polyline contour representation and the polygon representative of the first object may be determined using the converted coordinates. The autonomous vehicle may be controlled in the autonomous driving mode to avoid a collision based on the collision location. 1. A method of controlling a vehicle having an autonomous driving mode , the method comprising:receiving, by one or more processors, a polygon representative of the shape and location of an object detected in an environment of the autonomous vehicle;determining, by the one or more processors, a front polyline for the polygon representative of the object based on a heading of the object and an expected location of the object at a future point in time;converting, by the one or more processors, coordinates of the front polyline to the half-plane coordinate system;determining, by the one or more processors, an entry location and an exit location between the front polyline and a polygon representative of the object based on a planned future location of the autonomous vehicle and using the converted coordinates; andcontrolling, by the one or more processors, the autonomous vehicle in the autonomous driving mode to avoid a collision with the object based on the entry location and the exit location.2. The method of claim 1 , further comprising:determining a rear polyline for the polygon representative ...

VEHICLE AND METHOD FOR CONTROLLING THE SAME

A vehicle and a method for controlling the same are provided to advance a control start time of an (ADAS) of a vehicle. The vehicle includes an image capturing device that detects an object using an image of the object located in a peripheral region of a vehicle and a detection sensor that acquires position information of the object and speed information of the object. An input receives a command for starting the ADAS and a controller starts the ADAS when a traveling environment and traveling status of the vehicle satisfy a predefined condition. A warning start time of the ADAS is advanced by a predetermined period of time after starting operation of the ADAS and an operation release reference value for releasing the operation of the ADAS is set to be greater than a predetermined value. 1. A vehicle , comprising:an image capturing device configured to detect an object by capturing an image of the object located in a peripheral region of a vehicle;a detection sensor configured to acquire at least one position information of the object and speed information of the object;an input configured to receive a command for starting an operation of an advanced driver assistance system (ADAS) of the vehicle; and receive the command for starting the operation of the advanced driver assistance system (ADAS) of the vehicle;', 'start the operation of the advanced driver assistance system (ADAS) when a traveling environment and traveling status of the vehicle satisfy a predefined condition;', 'advance a warning start time based on the operation of the advanced driver assistance system (ADAS) by a predetermined period of time after starting operation of the advanced driver assistance system (ADAS); and', 'allow an operation release reference value for releasing the operation of the advanced driver assistance system (ADAS) to be greater than a predetermined value., 'a controller configured to2. The vehicle according to claim 1 , wherein the controller is configured to:determine the ...

VEHICLE AND CONTROL METHOD THEREOF

A vehicle and a control method thereof are provided to predict a behavior of a driver and a pedestrian and control the vehicle based on the predicted behavior of the driver and the pedestrian. The vehicle includes a capturer configured to capture an image around the vehicle; a behavior predictor configured to obtain joint image information corresponding to the joint motions of a pedestrian based on the captured image around the vehicle, predict behavior change of the pedestrian based on the joint image information, and determine the possibility of collision with the pedestrian based on the behavior change; and a vehicle controller configured to control at least one of stopping, decelerating and lane changing of the vehicle so as to avoid collision with the pedestrian when there is a possibility of collision with the pedestrian. 1. A vehicle comprising:a capturer configured to capture an image around the vehicle; obtain joint image information corresponding to joint motions of a pedestrian based on the captured image around the vehicle;', 'predict behavior change of the pedestrian based on the joint image information; and', 'determine a possibility of collision with the pedestrian based on the behavior change of the pedestrian; and, 'a behavior predictor configured toa vehicle controller configured to control at least one of stopping, decelerating or lane changing of the vehicle to avoid collision with the pedestrian when there is the possibility of collision with the pedestrian.2. The vehicle according to claim 1 , wherein the capturer is configured to capture a three-dimensional (3D) vehicle periphery image.3. The vehicle according to claim 1 , wherein the behavior predictor is configured to transmit a vehicle control signal to the vehicle controller when there is the possibility of collision with the pedestrian.4. The vehicle according to claim 1 , wherein the vehicle further comprises: recognize a surrounding situation of the vehicle based on the image around the ...

VEHICLE DRIVING ASSIST APPARATUS

A vehicle driving assist apparatus of the invention starts a collision avoidance steering assist control to automatically steer the vehicle to avoid a collision of the vehicle with the obstacle in response to a driver performing a collision avoidance steering operation for avoiding the collision when there is a possibility that the vehicle collides with the obstacle. The vehicle driving assist apparatus cancels the collision avoidance steering assist control in response to the driver performing a counter collision avoidance steering operation against automatically steering the vehicle intended to be achieved by the collision avoidance steering assist control after a first predetermined time elapses from starting the collision avoidance steering assist control. The vehicle driving assist apparatus continues the collision avoidance steering assist control until the first predetermined time elapses from starting the collision avoidance steering assist control even when the driver performs the counter collision avoidance steering operation. 1. A vehicle driving assist apparatus comprising:at least one sensor to detect an obstacle existing around a vehicle to which the vehicle driving assist apparatus is applied; and start an execution of a collision avoidance steering assist control to automatically steer the vehicle to avoid a collision of the vehicle with the detected obstacle in response to a driver of the vehicle performing a collision avoidance steering operation for steering the vehicle for avoiding the collision of the vehicle with the detected obstacle when there is a possibility that the vehicle collides with the detected obstacle;', 'cancel the execution of the collision avoidance steering assist control in response to the driver performing a counter collision avoidance steering operation for steering the vehicle against automatically steering the vehicle intended to be achieved by the collision avoidance steering assist control after a first predetermined ...

Vehicle and control method thereof

A vehicle may include a camera obtaining a surrounding image around the vehicle; and a controller configured to derive spatial recognition data by learning the surrounding image of the vehicle as an input value of the controller, derive object recognition data including wheel area data of surrounding vehicles around the vehicle by learning the surrounding image of the vehicle as an input value of the controller, determine a ground clearance between a bottom surface of a vehicle body of the surrounding vehicles and a ground by use of the spatial recognition data and the wheel area data, and control the vehicle to park the vehicle according to the ground clearance.

Automated Co-Pilot Control For Autonomous Vehicles

An automotive vehicle a vehicle steering system, an actuator configured to control the steering system, a first controller, and a second controller. The first controller is in communication with the actuator, and the second controller is in communication with the actuator and with the first controller. The first controller is configured to communicate an actuator control signal based on a primary automated driving system control algorithm. The actuator control signal includes a commanded actuator setting. The second controller is configured to, in response to a first condition being satisfied, control the actuator according to the actuator control signal. The second controller is also configured to, in response to a second condition being satisfied, control the actuator according to a modified actuator control signal. The modified actuator control signal corresponds to an intermediate actuator setting between the commanded actuator setting and a current actuator setting.

Automated Lane Keeping Co-Pilot For Autonomous Vehicles

An automotive vehicle includes a vehicle steering system, an actuator configured to control the steering system, a first controller, and a second controller. The first controller is in communication with the actuator. The first controller is programmed with a primary automated driving system control algorithm and is configured to communicate an actuator control signal based on the primary automated driving system control algorithm. The second controller is in communication with the actuator and with the first controller. The second controller is configured to, in response to a first predicted vehicle path based on the actuator control signal deviating from a current lane, control the actuator to maintain a current actuator setting. The second controller is also configured to, in response to the first predicted vehicle path being within the current lane, control the actuator according to the actuator control signal.

Driver assistance system, motor vehicle having a driver assistance system, and a method for operating a driver assistance system

A driver assistance system and method for a motor vehicle includes a detector that is designed to detect at least one object in the area surrounding the vehicle. A vector field generator is configured to create an environmental potential field for the at least one object detected in the area surrounding the vehicle and to calculate a vector field from the created environmental potential field. A control device is configured to define control commands for the vehicle on the basis of the calculated vector field.

Vision assisted driving system

A method, a device, a system, a computer program product, and a computer system drives a vehicle with vision assistance. The device includes an imager vertically extendable from a surface of a vehicle from a retracted position to an extended position. The imager is configured to capture images from a predetermined height above the vehicle while the imager is in the extended position. The images capture a field of view including a predetermined distance from the vehicle. The device includes a mount coupled to the imager and having an extendable length to position the imager in the retracted position and the extended position. The device includes a processor configured to process the images to determine a recommendation for driving the vehicle based on driving conditions present at the predetermined distance based on the images.

METHOD AND SYSTEM FOR POST-COLLISION MANOEUVRE PLANNING AND VEHICLE EQUIPPED WITH SUCH SYSTEM

A method predicts trajectories of traffic objects to avoid collisions. The method estimates the probability for at least two traffic objects to collide, and predicts a potential movement of the traffic objects presumably involved in the collision after the collision. This information about a potential movement of the traffic objects can be used to plan a suitable trajectory path of an evasion manoeuvre for a host-vehicle employing the method. A system detects the collision situation and applies crash situation models to predict the future dynamic properties of other traffic objects that collide or are about to collide with each other. The method and system applies specific crash models like collision models, models derived from crash simulations and tests or models of human reactions in emergency situations. 1. A method for assisting a driver of a host vehicle , the host vehicle comprising a data acquisition means and a processing means , the method comprising steps of:acquiring data describing a traffic environment by the acquisition means; andprocessing the data describing the traffic environment to generate crash determination information;determining, based on the crash determination information, whether a crash situation involving at least one target object will occur; andif occurrence of the crash situation is determined, predicting movement behavior after the crash of the at least one target object based on the data describing the traffic environment by applying at least one crash situation model.2. The method according to claim 1 , further comprising claim 1 ,if occurrence of the crash situation is determined, predicting further movement behavior of at least one further target object not involved in the crash situation based on the data describing the traffic environment by applying at least one traffic situation model,andgenerating prediction information based on the predicted further movement behavior of the target object and the movement behavior further ...

COLLISION AVOIDANCE SUPPORT DEVICE

When a host vehicle travels while being decelerated by an intervention of automatic braking, a support ECU calculates a collision prediction speed at a collision prediction position and determines whether or not the collision prediction speed exceeds a collision prediction speed threshold. The support ECU allows an automatic steering for collision avoidance to intervene only in a case where the collision prediction speed is determined to be equal to or less than the collision prediction speed threshold and prohibits the intervention of the automatic steering in a case where the collision prediction speed is determined to exceed the collision prediction speed threshold. 1. A collision avoidance support device comprising:an obstacle detector configured to detect whether an obstacle is present in front of a host vehicle; anda control system that controls: (i) an automatic braking system to cause automatic braking, in which a braking force is generated in a vehicle wheel, to occur in a case where the host vehicle is determined to likely collide with a detected obstacle, and (ii) an automatic steering system to cause automatic steering, in which a steering wheel of the host vehicle is automatically turned to perform collision avoidance, to occur in the case where the host vehicle is determined to likely collide with the detected obstacle despite deceleration of the host vehicle caused by the automatic braking, whereinthe control system (a) estimates whether or not a collision prediction speed representing a predicted relative speed of the host vehicle with respect to the detected obstacle or representing a vehicle speed of the host vehicle at a position where the host vehicle is predicted to collide with the detected obstacle after traveling while being decelerated by the automatic braking is higher than a collision speed threshold without performing the automatic steering, or (b) estimates whether or not a braking initiation speed during the automatic braking ...

DRIVING ASSISTANCE APPARATUS AND DRIVING ASSISTANCE METHOD

Disclosed is a driving assistance apparatus that includes at least: a first sensing unit that senses a width of a forward object, a distance to the forward object, a speed of the forward object, and a speed of an own vehicle; a first determining unit that determines a risk of collision with the forward object; a second sensing unit that senses a distance to a first corner of the forward object, and a distance to a second corner of the forward object; a calculating unit that calculates a distorted angle of the forward object based on the width of the forward object, the distances; a second determining unit that determines the risk of collision based on a smaller one of the sensed distances; and a control unit that controls the notification device, the braking device, and the steering device. 1. A driving assistance apparatus comprising:a first sensing unit configured to sense at least one of a width of a forward object, a distance to the forward object, a speed of the forward object, and a speed of an own vehicle;a first determining unit configured to determine a risk of collision with the forward object based on the distance to the forward object, the speed of the forward object, and the speed of the own vehicle;a second sensing unit configured to, when the first determining unit determines that there is a risk of collision, sense a first distance, which is a distance to a first corner of the forward object, and a second distance, which is a distance to a second corner of the forward object;a calculating unit configured to calculate a distorted angle of the forward object based on the width of the forward object, the first distance, and the second distance;a second determining unit configured to, when the calculated distorted angle is equal to or larger than a preset critical angle, further determine the risk of collision based on a smaller one of the sensed first and second distances, the speed of the forward object, and the speed of the own vehicle; anda control ...

ENHANCED COLLISION AVOIDANCE

A computer includes a processor and a memory, the memory storing instructions executable by the processor to determine at least one of: a brake threat number of a host vehicle, a brake threat number of a target vehicle, a steering threat number, or an acceleration threat number and to actuate the host vehicle to change at least one of direction or speed based on at least one of the threat numbers. The brake threat number of the host vehicle is based on a predicted lateral distance between the host vehicle and the target vehicle. The brake threat number of the target vehicle is based on a velocity of the target vehicle adjusted by an acceleration of the target vehicle and an actuation time of a brake. The steering threat number is a lateral acceleration being a predicted lateral distance adjusted by an actuation time of a steering component. The acceleration threat number is based on a predicted lateral offset adjusted by a predicted heading angle of the host vehicle. 1. A system , comprising a computer including a processor and a memory , the memory storing instructions executable by the processor to: a brake threat number of a host vehicle based on a predicted lateral distance between the host vehicle and a target vehicle;', 'a brake threat number of the target vehicle based on a velocity of the target vehicle adjusted by an acceleration of the target vehicle and an actuation time of a brake;', 'a steering threat number that is a lateral acceleration based on a predicted lateral distance adjusted by an actuation time of a steering component; or', 'an acceleration threat number based on a predicted lateral offset adjusted by a predicted heading angle of the host vehicle; and, 'determine at least one ofactuate the host vehicle to change at least one of direction or speed based on at least one of the brake threat number of the host vehicle, the brake threat number of the target vehicle, the steering threat number, or the acceleration threat number.2. The system of ...

APPARATUS AND METHOD FOR CONTROLLING DRIVING OF VEHICLE

An apparatus for controlling driving of a vehicle is provided. The apparatus includes: a sensor to sense an environment outside of the vehicle, a positioning device to measure a current position of the vehicle, and a controller to calculate a first weighted time to collision with another vehicle using an accident severity index obtained based on the environment outside the vehicle and the current position of the vehicle and to control collision avoidance based on the calculated first weighted time to collision. The apparatus performs strong control to avoid a collision in an external environment incapable of being sensed by a sensor, thus reducing occurrence of an accident of the vehicle and damage due to the accident of the vehicle. 1. An apparatus for controlling driving of a vehicle , the apparatus comprising:a sensor configured to sense an environment outside of the vehicle;a positioning device configured to measure a current position of the vehicle; anda controller configured to calculate a first weighted time to collision with another vehicle based on an accident severity index obtained based on the environment outside of the vehicle and the current position of the vehicle and to control collision avoidance based on the calculated first weighted time to collision.2. The apparatus of claim 1 , wherein the environment outside of the vehicle comprises at least one of brightness claim 1 , an obstruction claim 1 , or weather outside of the vehicle.3. The apparatus of claim 1 , wherein the accident severity index is calculated based on a number of fatalities which occur in the environment outside of the vehicle and the current position of the vehicle and a collision risk.4. The apparatus of claim 3 , wherein the collision risk is calculated based on the number of fatalities according to a collision position and a collision direction of an accident vehicle which occurs in the current position of the vehicle.5. The apparatus of claim 1 , wherein the controller is ...

Systems and Methods of Connected Driving Based on Dynamic Contextual Factors

Systems including one or more sensors, coupled to a vehicle, may detect sensor information and provide the sensor information to another computing device for processing. A system includes one or more sensors, coupled to a vehicle and configured to detect sensor information, and a computing device configured to communicate with one or more mobile sensors to receive the mobile sensor information, communicate with the one or more sensors to receive the sensor information, and analyze the sensor information and the mobile sensor information to identify one or more risk factors.

Method for simulating a collision situation

A method for simulating a collision situation between two vehicles for testing a driver assistance system in a driving simulator or in a Vehicle-in-the-Loop scenario. A fellow vehicle simulated on a simulation computer is assigned a trajectory that passes through a point of collision of a planned collision between the fellow vehicle and an ego vehicle that is not controlled by the simulation computer. The driver assistance system is equipped to exchange data with the simulated environment in real time and to influence the driving behavior of the ego vehicle in a collision situation. A target distance to the point of collision is determined for the fellow vehicle that the fellow vehicle would have to have in order to arrive at the point of collision simultaneously or substantially simultaneously with the ego vehicle, under the assumption that it travels at the specified arrival speed.

DRIVING CONCENTRATION LEVEL CALCULATING APPARATUS AND METHOD, AND SYSTEM AND METHOD FOR WARNING OF VEHICLE COLLISION USING THE SAME

A driving concentration level calculating apparatus is provided and includes a controller configured to acquire an acceleration of a traveling vehicle and measure a relative velocity to a preceding vehicle. In addition, noise is removed from the acquired acceleration of the traveling vehicle and from the measured relative velocity to the preceding vehicle. A plurality of correlation values are calculated based on the acceleration of the traveling vehicle and the relative velocity to the preceding vehicle from which noise has been removed. In addition, the controller is configured to detect a time at which a maximum correlation value is calculated as a driving concentration level from among the calculated correlation values. 1. A driving concentration level calculating apparatus comprising:a memory configured to store program instructions; and acquire an acceleration of a traveling vehicle;', 'measure a relative velocity to a preceding vehicle;', 'remove noise from the acquired acceleration of the traveling vehicle;', 'remove noise from the measured relative velocity to the preceding vehicle;', 'calculate correlation values based on the acceleration of the traveling vehicle and the relative velocity to the preceding vehicle from which noise has been removed; and', 'detect a time at which a maximum correlation value is calculated as a driving concentration level from among the calculated correlation values., 'a processor configured to execute the program instructions, the program instructions when executed configured to2. The driving concentration level calculating apparatus according to claim 1 , wherein the program instructions when executed are further configured to:calculate the correlation values by setting a relative velocity window and an acceleration window for the relative velocity of the preceding vehicle and the acceleration of the traveling vehicle, respectively, wherein the relative velocity window and the acceleration window having substantially the same ...

COLLISION PREDICTION APPARATUS

A collision prediction apparatus including: an object detection section that detects an object present ahead of an own vehicle; and a collision prediction position calculation section that calculates a collision prediction position that is a position where the object is predicted to collide with the own vehicle in the future based on a position of the object detected by the object detection section relative to the own vehicle, wherein the collision prediction position calculation section corrects the collision prediction position when the object detected by the object detection section is traveling in an opposite direction to the own vehicle at a position deviated from a traveling direction of the own vehicle, and the own vehicle turns in a direction crossing a traveling direction of the object. 1. A collision prediction apparatus comprising:an object detection section that detects an object present ahead of an own vehicle; anda collision prediction position calculation section that calculates a collision prediction position that is a position where the object is predicted to collide with the own vehicle in the future based on a position of the object detected by the object detection section relative to the own vehicle, whereinthe collision prediction position calculation section corrects the collision prediction position when the object detected by the object detection section is traveling in an opposite direction to the own vehicle at a position deviated from a traveling direction of the own vehicle, and the own vehicle turns in a direction crossing a traveling direction of the object.2. The collision prediction apparatus according to claim 1 , wherein the collision prediction position calculation section corrects the collision prediction position under an additional condition that it has been determined that the traveling direction of the object and the traveling direction of the own vehicle are parallel to each other.3. The collision prediction apparatus ...

COLLABORATIVE ACCIDENT PREVENTION

In an approach to collaborative accident prevention, that a first vehicle is approaching an intersection is detected. A first vehicle information vector is broadcast from the first vehicle, where the first vehicle information vector contains at least a first vehicle speed, a first vehicle position, and a first vehicle direction. Responsive to receiving a second vehicle information vector from a second vehicle, an optimal order to cross the intersection is calculated based on the first vehicle information vector and the second vehicle information vector. A first adjusted vehicle speed is signaled to the first vehicle and a second adjusted vehicle speed is signaled to the second vehicle based on the optimal order to cross the intersection. 1. A computer-implemented method for collaborative accident prevention , the computer-implemented method comprising:detecting, by one or more computer processors, that a first vehicle is approaching an intersection;broadcasting, by the one or more computer processors, a first vehicle information vector from the first vehicle, wherein the first vehicle information vector contains at least a first vehicle speed, a first vehicle position, and a first vehicle direction;responsive to receiving a second vehicle information vector from a second vehicle, calculating, by the one or more computer processors, an optimal order to cross the intersection based on the first vehicle information vector and the second vehicle information vector; andsignaling, by the one or more computer processors, a first adjusted vehicle speed to the first vehicle and a second adjusted vehicle speed to the second vehicle based on the optimal order to cross the intersection.2. The computer-implemented method of claim 1 , wherein the first vehicle information vector from the first vehicle and the second vehicle information vector from the second vehicle further comprises at least one of:a vehicle identifier;a vehicle priority;a vehicle route data, wherein the vehicle ...

VEHICLE OPERATION USING A BEHAVIORAL RULE MODEL

Methods for vehicle operation using a behavioral rule model include receiving sensor data from a first set of sensors and a second set of sensors. The sensor data represents operation of the vehicle with respect to one or more objects. Violations of a behavioral model of the operation of the vehicle are determined based on the sensor data. A first risk level of the one or more violations is determined based on a distribution of events of the operation of the vehicle with respect to the one or more objects. Responsive to the first risk level being greater than a threshold risk level, a trajectory is generated. The trajectory has a second risk level lower than the threshold risk level. The vehicle is operated based on the trajectory to avoid a collision of the vehicle and the one or more objects. 1. A method comprising:receiving, by one or more processors of a vehicle operating in an environment, first sensor data from a first set of sensors of the vehicle and second sensor data from a second set of sensors of the vehicle, the first sensor data representing operation of the vehicle and the second sensor data representing one or more objects located in the environment;determining, by the one or more processors, one or more violations of a stored behavioral model of the operation of the vehicle based on the first sensor data and the second sensor data, the one or more violations determined with respect to the one or more objects located in the environment;determining, by the one or more processors, a first risk level of the one or more violations based on a stored distribution of events of the operation of the vehicle with respect to the one or more objects;responsive to the first risk level being greater than a threshold risk level, generating, by the one or more processors, a trajectory for the vehicle, the trajectory having a second risk level lower than the threshold risk level, the second risk level determined with respect to the one or more objects; andoperating, ...

TRAFFIC COLLISION WARNING DEVICE

The present invention relates to a traffic collision warning device comprising: a main circuit board (); a central processing unit () being mounted on the main circuit board () and controlling the operation of the device; a memory (); a warning signal generator (); sensors (c c c c c′, c′, c′, c′) being arranged along the road near a collision-prone area; a vehicle identification module; timers (tm, tm′); vehicle counters (n, n′); and a movement direction comparison module. Wherein, the direction of movement of a vehicle is identified based on the order in which it passes through the sensors, the vehicle velocity is calculated by dividing the distance between the two sensors by the period of time it takes the vehicle to pass through the two sensors; the vehicle length is calculated by multiply the vehicle velocity and the period of time it takes the vehicle to pass through a sensor. When at least two vehicles moving from opposite directions are possibly to meet each other in the collision-prone area, the device emits collision warning signals at different levels depending on the velocities of the vehicles. 1. A traffic collision warning device comprising:{'b': 11', '12', '11', '111', '18, 'a main circuit board (); a central processing unit () being mounted on the main circuit board () for controlling the operation of the device; a memory (); a warning signal generator ();'}{'b': 1', '2, 'a first sensor (c) and a second sensor (c) being arranged on the left side of a collision-prone area;'}{'b': 3', '4, 'a third sensor (c) and a fourth sensor (c) being arranged near the collision-prone area;'}{'b': 1', '2, 'a fifth sensor (c ′) and a sixth sensor (c′) being arranged on the right side of the collision-prone area;'}{'b': 3', '4, 'a seventh sensor (c′) and an eighth sensor (c′) being arranged near the collision-prone area;'}a vehicle identification module;timers (tm, tm′);a movement direction comparison module;wherein, the direction of movement of a vehicle is ...

EMERGENCY BRAKING DEVICE FOR VEHICLE

Disclosed is an emergency braking apparatus for a vehicle. The emergency braking apparatus includes a sensor mounted to a host vehicle and configured to detect the outer or inner area of the host vehicle, a processor configured to process data collected by the sensor, and a controller configured to provide control signals for controlling the host vehicle based on the data processed by the processor. The sensor detects a state of a driver or a traveling state of the host vehicle. The processor determines whether the driver is inattentive based on the detected state of the driver or the detected traveling state of the host vehicle. The controller provides a braking signal for braking the host vehicle if it is determined that the driver is inattentive. 1. An emergency braking apparatus for a host vehicle , comprising:a sensor mounted to the host vehicle and configured to detect an outer or inner area of the host vehicle;a processor configured to process data collected by the sensor; anda controller configured to provide control signals for controlling the host vehicle based on the data processed by the processor,wherein the sensor detects a state of a driver or a traveling state of the host vehicle,the processor determines a level of inattentiveness of the driver based on the detected state of the driver or the detected traveling state of the host vehicle, andthe controller provides a braking signal for braking the host vehicle based on the level of inattentiveness of the driver.2. The apparatus of claim 1 , wherein the sensor detects a motion of the driver or the traveling state of the host vehicle.3. The apparatus of claim 1 , wherein:the sensor detects whether a preceding vehicle is present, andthe processor determines an expected collision time based on a relative velocity and relative distance between the host vehicle and the preceding vehicle if the preceding vehicle is present and determines whether a collision occurs by comparing the expected collision time ...

DRIVING ASSISTANCE APPARATUS FOR VEHICLE

A vehicle driving assistance apparatus that includes: a sensing unit configured to sense an object outside the vehicle; and a processor configured to: obtain surrounding situation information, based on a location of the object outside the vehicle, determine whether the object approaches the vehicle from a traveling lane or a lateral lane, based on the determination of whether the object approaches the vehicle from a traveling lane or a lateral lane, generate a control signal that is configured to control at least one of a drive apparatus of the vehicle, a steering apparatus of the vehicle, and/or a brake apparatus of the vehicle (i) to avoid collision between the vehicle and the object or (ii) to perform an action that reduces an impulse on the vehicle from the collision, and provide the control signal to a vehicle control system of the vehicle. 1. (canceled)2. A vehicle driving assistance apparatus for a vehicle , the vehicle driving assistance apparatus comprising a processor configured to:obtain surrounding situation information from one or more sensors, the one or more sensors being configured to sense an object outside the vehicle;based on a location of the object outside the vehicle, determine an approach direction of the object relative to the vehicle;based on the determination of the approach direction of the object, generate a control signal that is configured to control at least one of a drive apparatus of the vehicle, a steering apparatus of the vehicle, or a brake apparatus of the vehicle to thereby (i) avoid collision between the vehicle and the object or (ii) perform an action that minimizes an impulse exerted on the vehicle during the collision or (iii) both; andprovide the control signal to a vehicle control system of the vehicle.3. The vehicle driving assistance apparatus of claim 2 , wherein the approach direction of the object corresponds to a first direction in which the object approaches the vehicle from a traveling lane in which the vehicle is ...

COLLISION AVOIDANCE ASSIST APPARATUS

A collision avoidance assist apparatus is configured to perform a collision avoidance assist operation for avoiding a collision between a moving body and an object if a time to collision, which is a time for the moving body to collide with the object that is around the moving body, is less than or equal to a predetermined threshold value. The collision avoidance assist apparatus is provided with a threshold value changer configured to reduce the predetermined threshold value when an angle made by a straight line in a direction of travel of the moving body and by a straight line in a direction of travel of the object is greater than a predetermined angle, in comparison with when the angle made is less than the predetermined angle. 1. A collision avoidance assist apparatus comprising:an assisting device configured to perform a collision avoidance assist operation for avoiding a collision between a moving body and an object if a time to collision, which is a time for the moving body to collide with the object that is around the moving body, is less than or equal to a predetermined threshold value; anda threshold value changer configured to reduce the predetermined threshold value when an angle made by a straight line in a direction of travel of the moving body and by a straight line in a direction of travel of the object is greater than a predetermined angle, in comparison with when the angle made is less than the predetermined angle.2. The collision avoidance assist apparatus according to claim 1 , further comprising an estimator configured to estimate the angle made after a lapse of a predetermined period claim 1 , whereinsaid threshold value changer is configured to reduce the predetermined threshold value when the angle made after the lapse of the predetermined period is greater than the predetermined angle, in comparison with when the angle made after the lapse of the predetermined period is less than the predetermined angle. This application is based upon and ...