The present invention obtains a controller and a control method capable of achieving appropriate cornering during cruise control of a straddle-type vehicle. In the controller and the control method according to the present invention, during the cruise control, in which acceleration/deceleration of the straddle-type vehicle is automatically controlled without relying on an accelerating/decelerating operation by a driver, an entry of a curved road is detected on the basis of a predicted route of the straddle-type vehicle, and the straddle-type vehicle is decelerated at a time point before the straddle-type vehicle reaches the entry.

A method for controlling a braking process of a motor vehicle having an intelligent cruise control and a navigation unit is provided, wherein the braking process is divided into multiple phases in which different deceleration rates are present. Furthermore, a motor vehicle for executing the method is provided.

A system for a host vehicle includes a processor programmed to receive, from an image capture device, an image representative of an environment of the host vehicle, detect at least one obstacle in the environment of the host vehicle based on an analysis of the at least one image, determine a velocity of the host vehicle and a predicted path for the host vehicle, monitor a driver input to at least one of a throttle control, a brake control, or a steering control associated with the host vehicle, and determine whether the driver input would result in the host vehicle navigating within a proximity buffer relative to the at least one obstacle, wherein the proximity buffer is determined based on the determined velocity, a maximum acceleration capacity of the host vehicle, and a maximum braking capacity of the host vehicle, and a reaction time associated with the host vehicle.

A navigational system for a host vehicle may comprise at least one processor. The processor may be programmed to receive an image representative of an environment of the host vehicle; analyze the image to identify a navigational state associated with the host vehicle; and determine, based on the navigational state, a navigational action for the host vehicle based on a policy that maps possible navigational actions to sensed states. The navigational action may be based on a safety constraint applicable to the navigational state, the safety constraint including a safety distance constraint associated with the host vehicle, wherein the safety distance constraint is based on a determined speed of the host vehicle and a determined speed of a detected target object. The processor may cause an adjustment of a navigational actuator of the host vehicle to implement the determined navigational action.

In one embodiment, a method for performing an obstacle detection for an ADV includes detecting an obstacle by a primary ADS and a secondary ADS using an obstacle detection algorithm based on sensor data provided by sensors on the ADV. In response to detecting the obstacle, a first controlled stop distance and a second controlled stop distance are calculated by the primary ADS and secondary ADS respectively based on a speed and a deceleration capability of the ADV. The first and second controlled stop distances between the primary ADS and secondary ADS are exchanged to determine a third controlled stop distance which is the maximum of the two. In response to determining that the ADV reaches within the third controlled distance between the ADV and the obstacle, a controlled stop operation is activated by the primary ADS to decelerate the ADV based on the third controlled stop distance.

A vehicle control apparatus executes a wheel speed change control to control speeds of first road wheels and a second road wheel to a lower limit wheel speed or more when braking forces are applied to the first and second road wheels, and at least one of the speeds of the first and second road wheels becomes lower than the lower limit wheel speed. A vehicle speed change control executes a first increase-decrease control which alternately executes a first increase control to increase braking forces applied to the first road wheels together and a first decrease control to decrease the braking forces applied to the first road wheels together and (ii) a second increase-decrease control which increases and decreases the braking force applied to the second road wheel.

A controller in a first vehicle includes an electrical input port adapted to receive a first electrical signal, based on a presence of a first service brake demand associated with a first brake valve on the first vehicle, and a second electrical signal, based on a presence of a second service brake demand associated with a second brake valve on the first vehicle. The controller is capable of determining if at least one of the first electrical signal and the second electrical signal indicates the respective presence of the first service brake demand and the second service brake demand. An electrical output port is adapted to transmit an electrical deceleration signal based on the presence of the at least one of the first service brake demand and the second service brake demand. A speed reducing mechanism on a second vehicle is applied based on the electrical deceleration signal.

Systems and methods are provided for vehicle navigation. In one implementation, a system may comprise an interface to obtain sensing data of an environment of the host vehicle. A processing device may be configured to determine a planned navigational action for the host vehicle; identify a target vehicle in the environment of the host vehicle; predict a following distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken; determine a host vehicle braking distance based on a braking capability, acceleration capability, and speed of the host vehicle; determine a target vehicle braking distance, based on a speed and maximum braking capability of the target vehicle; and implement the planned navigational action when the predicted following distance is greater than a minimum safe longitudinal distance based on the determined host vehicle braking distance and the determined target vehicle braking distance.

Systems and methods are provided for vehicle navigation. In one implementation, a processing device may be configured to obtain a planned driving action for accomplishing a navigational goal of a host vehicle; receive sensor data from an environment surrounding the host vehicle; identify a target vehicle moving in the environment and a velocity of the target vehicle; calculate, a predicted trajectory for the target vehicle; calculate a planned trajectory for the host vehicle corresponding to the planned driving action; identify an intersection of the planned trajectory for the host vehicle with the predicted trajectory for the target vehicle; determine a braking action of the host vehicle to comply with a safety requirement; and cause the braking action to be applied to decelerate the host vehicle to change the planned trajectory of the host vehicle, until the planned trajectory does not intersect the predicted trajectory of the target vehicle.

Methods and apparatus are disclosed herein that perform automatic downhill snub braking. An example apparatus disclosed herein includes an electronic powertrain controller to cause a deceleration of a vehicle in response to a first request from an electronic cruise controller, the first request responsive to a change in grade of a driving surface and an electronic brake controller to apply snub braking to the vehicle in response to a second request received from the electronic cruise controller, the second request responsive to a speed of the vehicle reaching a maximum speed.