Systems and methods for controlling a vehicle are provided. The system may comprise a vehicle, one or more sensors, one or more actuation controls configured to enable the vehicle to perform one or more driving actions, and a controller, comprising a processor, configured to receive one or more trajectory commands, automatically generate an automatic trajectory command, and generate one or more driving actions. The one or more driving actions may correlate to one or more actuator commands configured to cause the vehicle to be positioned in accordance with the one or more trajectory plot points of the automatic trajectory command. The system may comprise a remote station system comprising one or more remote actuation controls configured generate the one or more driving actions of the remote trajectory command. The remote station system may be configured to generate one or more driving actions.

A computer-implemented method for detecting black-swan events for assisting operation of an ego-agent comprises sensing an environment of the ego-agent that includes at least one other agent and predicting behaviors of the at least one other agent based on the sensed environment. The method includes detecting at least one potential black-swan event in the environment of the ego-agent by determining at least one predicted possible behavior of the at least one other agent for which a computed situation probability is smaller than a first threshold, a computed collision probability exceeds a second threshold, and a determined collision severity exceeds a third threshold.

A computer-implemented method for detecting black-swan events for assisting operation of an ego-agent comprises sensing an environment of the ego-agent that includes at least one other agent and predicting behaviors of the at least one other agent based on the sensed environment. The method includes detecting at least one potential black-swan event in the environment of the ego-agent by determining at least one predicted possible behavior of the at least one other agent for which a computed situation probability is smaller than a first threshold, a computed collision probability exceeds a second threshold, and a determined collision severity exceeds a third threshold.

In the control device, the identifying unit specifies, as the first vehicle function, a vehicle function having a relatively high use frequency among the vehicle functions assigned to each of the plurality of operation units mounted in the vehicle. The suggesting unit proposes to the user of the vehicle that the identified first vehicle function is assigned to a second operation unit different from the first operation unit to which the first vehicle function is assigned in advance.

In the control device, the identifying unit specifies, as the first vehicle function, a vehicle function having a relatively high use frequency among the vehicle functions assigned to each of the plurality of operation units mounted in the vehicle. The suggesting unit proposes to the user of the vehicle that the identified first vehicle function is assigned to a second operation unit different from the first operation unit to which the first vehicle function is assigned in advance.