A current state of a vehicle can be identified. At least a minimum acceleration capability of the vehicle is determined. A desired acceleration profile to follow is determined based at least in part on the minimum acceleration capability. An acceleration of the vehicle is controlled based at least in part on the desired acceleration profile.

A robotic device includes multiple sprockets coupled to a tread module. The robotic device also includes multiple first drive gears coupled to a drive shaft gear of the tread module. The robotic device further includes a second drive gear coupled to a carousel gear of the tread module.

A robotic device includes multiple sprockets coupled to a tread module. The robotic device also includes multiple first drive gears coupled to a drive shaft gear of the tread module. The robotic device further includes a second drive gear coupled to a carousel gear of the tread module.

The present disclosure provides systems and methods that control the motion of an autonomous vehicle by rewarding or otherwise encouraging progress toward a goal, rather than simply rewarding distance travelled. In particular, the systems and methods of the present disclosure can project a candidate motion plan that describes a proposed motion path for the autonomous vehicle onto a nominal pathway to determine a projected distance associated with the candidate motion plan. The systems and methods of the present disclosure can use the projected distance to evaluate a reward function that provides a reward that is positively correlated to the magnitude of the projected distance. The motion of the vehicle can be controlled based on the reward value provided by the reward function. For example, the candidate motion plan can be selected for implementation or revised based at least in part on the determined reward value.

An autopilot enabling device may be configured to be coupled to portions of a steering wheel of a vehicle. In some embodiments, the device may include an alpha subunit and a beta subunit. The alpha subunit may include a first end, a second end, and an alpha contact surface. The beta subunit may include a first end, a second end, and a beta contact surface. A first coupling may be configured to couple the first end of the alpha subunit to the first end of the beta subunit. The device may be secured to the steering wheel by placing the alpha contact surface in contact with a first portion of the steering wheel, by placing the beta contact surface in contact with a second portion of the steering wheel, and by coupling the first end of the alpha subunit to the first end of the beta subunit.

A mobile robot triangle chassis assembly is disclosed, which includes a housing, a top plate, an isolation plat, a bottom plate, a power package, multiple support beams and three sets of gear trains. The three sets of gear trains are equilaterally triangularly distributed, each of which includes a motor, a speed reducer, a support frame and an omnidirectional wheel. The speed reducer is a bevel gear speed reducer whose outer periphery is bent at an angle of 90 degrees. The three sets of gear trains in a triangle distribution enhances the stability of the robot walking; the speed reducer is a bevel gear speed reducer whose outer periphery is bent at the angle of 90 degrees; the mobile robot triangle chassis assembly has a double-layer structure, the three sets of gear trains are located at a lower layer of the double-layer structure, and the power package is located at an upper layer of the double-layer structure, so as to reduce an occupied area of the mobile robot triangle chassis assembly. In the mobile robot triangle chassis assembly of the present invention, only the bottom of the omnidirectional wheel is located outside the bottom plate, so that components within the mobile robot triangle chassis assembly are protected. Furthermore, the power package is located on the isolation plate higher than the three sets of gear trains to be more sufficiently protected.

There is provided an estimated steering angle calculation device for a vehicle capable of suppressing deterioration in accuracy of an estimated steering angle even if vehicle wheels slips or is locked due to acceleration or deceleration of the vehicle. Although, when being accelerated during turning, tire gripping force of front wheels serving as a driving wheel increases and a difference between wheel speeds of the front wheels decreases so that an estimated steering angle es relative to an actual steering angle act tends to decrease, the deterioration in accuracy of the estimated steering angle es due to this tendency can be suppressed by increasing a second contribution rate relative to the estimated steering angle es on the rear wheel side and decreasing a first contribution rate on the front wheel side in accordance with an accelerator opening degree.

A cooperative-vehicle system suitable to operate an automated vehicle in a courteous or cooperative manner includes an object-detector and a controller. The object-detector is used by the host-vehicle to detect an other-vehicle attempting to enter a travel-lane traveled by the host-vehicle. The controller is in communication with the object-detector. The controller is configured to control motion of the host-vehicle. The controller is also configured to adjust a present-vector of the host-vehicle to allow the other-vehicle to enter the travel-lane. The decision to take some action to allow the other vehicle to enter the travel-lane may be further based on secondary considerations such as how long the other-vehicle has waited, a classification of the other-vehicle (e.g. an ambulance), an assessment of how any action by the host-vehicle would affect nearby vehicles, the intent of the other-vehicle, and/or a measure traffic-density proximate to the host-vehicle.

A method and apparatus is provided for controlling the operation of an autonomous vehicle. According to one aspect, the autonomous vehicle may track the trajectories of other vehicles on a road. Based on the other vehicle's trajectories, the autonomous vehicle may generate a pool of combined trajectories. Subsequently, the autonomous vehicle may select one of the combined trajectories as a representative trajectory. The representative trajectory may be used to change at least one of the speed or direction of the autonomous vehicle.

A vehicle safety detecting ring includes a ring body, at lease one detector, a touching area and an alarm device. The ring body is configured to mounted on a steering wheel. The at least one detector is located inside the ring body and configured to detect information of driver. The touching area is connected with the at least one detector in the ring body to transmit the information of driver to the at least one detector. The alarm connects with the at least one detector and is configured to issue an alarm when the at least one detector detects an abnormal signal.