A method and a device for operating an automated vehicle. The method includes a step of determining a rough position, a step of detecting an operating state of the automated vehicle, a step of checking whether it is possible, proceeding from the rough position, to determine a precise position as a function of the operating state, a step of determining the precise position when it is possible to determine the precise position, or a step of providing a signal, which represents a non-determination of the precise position, when it is not possible to determine the precise position, and a step of operating the vehicle as a function of the precise position or as a function of the signal.

A vehicle includes a gear selector that selects between a drive and reverse gear. The gear selected defines an intended travel direction. The vehicle also includes a controller that, responsive to user input, activates a one-pedal drive system, and responsive to detecting the vehicle is rolling back for more than a predefined time period, a feedforward road grade compensation torque being opposite to the intended travel direction and having a magnitude greater than a feedforward threshold, and a feedback data noise compensation torque in the intended travel direction having a magnitude greater than a feedback threshold, reduces the maximum magnitude of the feedforward road grade compensation torque to a predefined value throughout a current key cycle for the vehicle.

A vehicle includes a gear selector that selects between a drive and reverse gear. The gear selected defines an intended travel direction. The vehicle also includes a controller that, responsive to user input, activates a one-pedal drive system, and responsive to detecting the vehicle is rolling back for more than a predefined time period, a feedforward road grade compensation torque being opposite to the intended travel direction and having a magnitude greater than a feedforward threshold, and a feedback data noise compensation torque in the intended travel direction having a magnitude greater than a feedback threshold, reduces the maximum magnitude of the feedforward road grade compensation torque to a predefined value throughout a current key cycle for the vehicle.

A vehicle control method for controlling a vehicle using a vehicle control apparatus includes: a sensor configured to detect a state outside a subject vehicle; and a control device. The vehicle control method includes: executing control of recovering a travel trajectory of the subject vehicle to a target trajectory, as ordinary control, by giving a steering amount in a lateral direction with respect to a travel lane of the subject vehicle; using detection data of the sensor to determine whether or not another vehicle is traveling in an adjacent lane to the travel lane of the subject vehicle; and when determining that the other vehicle is traveling in the adjacent lane ahead of the subject vehicle, increasing a response of the steering amount to a higher response than that in the ordinary control, before the subject vehicle passes the other vehicle.

A vehicle control system for proactively calculating a safe motion range (e.g., safe speed, a safe acceleration, and/or a safe jerk range) for a road segment and selecting and verifying an appropriate domain for the vehicle using, for example, information about the current road segment, information about the next road segment(s), information obtained from sensors, information obtained from map systems, information from an object-based safety layer, and/or other information about the vehicle's operating conditions in the current and future road segments. In addition, once the safe motion range is calculated, this information may be used to either warn/inform a human driver or directly enforce an appropriate vehicle maneuver to ensure a safe motion in the vehicle's next road segment(s).

A method for determining, by a utility vehicle having a trailer coupling, an articulation angle between the utility vehicle and a coupled vehicle trailer includes determining, with a model, a modelled value of the articulation angle or an articulation angle change. The method further includes determining, with a sensor unit, a measured value of an articulation angle or of an articulation angle change, and deriving, from the measured value, a correction value. The method additionally includes correcting the modelled value as a function of the correction value, and outputting the corrected modelled value as an output value of an articulation angle.

A first off-network wireless device transmits first media traffic to a third off-network wireless device employing a first session. The first off-network wireless device receives a floor request message from a second off-network wireless device. The floor request message comprises an organization field identifier and an organization identifier. The first off-network wireless device determines a call priority based on the organization field identifier and the organization identifier. Transmission of the first media traffic to the third off-network wireless device is terminated based on the call priority. The first off-network wireless device starts transmission of second media traffic to the second off-network wireless device employing a second session.

A method for determining, by a utility vehicle having a trailer coupling, an articulation angle between the utility vehicle and a coupled vehicle trailer includes determining, with a model, a modelled value of the articulation angle or an articulation angle change. The method further includes determining, with a sensor unit, a measured value of an articulation angle or of an articulation angle change, and deriving, from the measured value, a correction value. The method additionally includes correcting the modelled value as a function of the correction value, and outputting the corrected modelled value as an output value of an articulation angle.

An autonomous driving control apparatus for a vehicle includes: a processor that determines whether a current driving condition of the vehicle is a limit situation during an autonomous driving control, performs a demand for control authority transition to a user during the autonomous driving control when the current driving condition is the limit situation, and starts a minimum risk maneuver to transmit a signal for disabling reactivation of the autonomous driving control when control authority is not transferred to the user; and a storage to store a set of instructions and driving condition data to be used by the processor. In particular, the processor demands for engagement of an electronic parking brake device when the vehicle is stopped after the minimum risk maneuver ends.

This application describes a method, system, and apparatus for measuring the depth of a body of water ahead of the user's location or position. The user can be a driver of a vehicle. The apparatus includes a fording depth sensor, a second fording depth sensor, a proximity sensor to determine road angle or position ahead of the vehicle, wherein the proximity sensor is designed to operate underneath the water surface and a control unit configured to use signals of the wading depth and sensors to compute a wading depth at a location ahead of the direction of vehicle movement and/or to compute a distance ahead of the direction of vehicle movement to maximum wading depth. A method of building the apparatus, system, and vehicle is also provided.