In one embodiment, a system perceives an environment surrounding an ADV including a vehicle in front of the ADV. The system determines whether the vehicle in front is slipping backwards based on the perception. The system determines whether the vehicle in front is situated on a road with a slope based on map information. The system determines whether a tail light or a brake light of the vehicle in front is turned on based on the perception. If it is determined that the vehicle in front is situated on a sloped road, is slipping backwards, and the tail light or the brake light is not turned on, the system calculates a time to impact or a distance to impact based on the distance and speed of the vehicle in front.

A vehicle brake device includes a stroke simulator, a stroke sensor, and a brake start determination unit. The stroke simulator includes a cylinder, a piston, an orifice, and a pressure sensor. The cylinder defines a liquid pressure chamber to which a brake liquid is supplied via a fluid path. The piston slides in the cylinder by the brake liquid supplied to the liquid pressure chamber. The orifice is formed in the fluid path. The pressure sensor detects a reaction pressure. The stroke sensor is configured to detect the stroke. The brake start determination unit determines an operation of the brake operation member has been started in a case where the reaction pressure detected by the pressure sensor becomes equal to or greater than a first threshold value and the stroke detected by the stroke sensor becomes equal to or greater than a second threshold value.

An apparatus and a method for preventing a vehicle from falling into a sinkhole are provided. The apparatus prevents the vehicle from being unnecessarily stopped by determining whether to stop the vehicle based on a size of the sinkhole while preventing the vehicle from falling into the sinkhole on a road. The apparatus includes a sensor that is mounted on the vehicle to measure a distance to a ground and a controller that determines a size of the sinkhole based on the distance to the ground and determines whether to stop the vehicle while preventing the vehicle from falling into the sinkhole on a road.

In a hydraulic brake system, when a main power supply is in an abnormal condition in which it cannot supply electric power to a pump motor, etc., the pump motor is operated with electric power supplied from an auxiliary power supply, irrespective of the presence of a braking request. Thus, when the main power supply is in the abnormal condition, the number of times inrush current flows is reduced. As a result, the voltage of the auxiliary power supply is less likely to be lower than an operation minimum voltage, and the hydraulic brake system is less likely to be unable to be operated.

A device for wheel slip control on a motor vehicle having at least one front axle and at least one rear axle is specified, wherein the front axle is assigned at least one front actuator for influencing at least one linear front wheel speed, and the rear axle is assigned at least one rear actuator for influencing at least one linear rear wheel speed. The device comprises at least one interface, which is designed to receive the following parameters: at least one first parameter indicating the at least one linear front wheel speed; at least one second parameter indicating the at least one linear rear wheel speed; and at least one third parameter indicating a vehicle speed, wherein the at least one third parameter is different from the at least one first parameter and the at least one second parameter.

A vehicle computer system controls downhill speed of a vehicle having a cruise control and an engine retarder. The system receives a request to increase engine retarder demand. In response, the system increases an engine retarder demand setting and, if cruise control is active, decreases a downhill speed control (DSC) cruise control offset. The engine retarder system may automatically activate to reduce the vehicle speed to a cruise control set speed plus the DSC cruise control offset. In an embodiment, the request to increase engine retarder demand is generated in response to operator input via an engine retarder demand input device (e.g., a steering-column-mounted control stalk). The system may also receive a request to decrease engine retarder demand in the engine retarder of the vehicle. In response, the system decreases the engine retarder demand setting and, if cruise control is active, increases the DSC cruise control offset.

A working combination (10) having self-propelled first (12) and further vehicles (14) that are embodied to move one behind another with a setpoint spacing (D) in a working direction (A); the working combination (10) having a spacing monitoring device (26) that outputs a spacing signal on the basis of a detection state of the spacing monitoring device (26) which depends on the actual spacing (D) of the vehicles (12, 14), and that comprises a beam source (28) and a sensor arrangement (30) detecting the radiation (32) of the beam source (28); one vehicle (12), constituting a source vehicle (12), carrying the beam source (18); the beam source (28) radiating, toward the respective other vehicle (14) constituting a target vehicle (14), an electromagnetic radiation (32) directed in such a way that the radiation (32) is present only in a beam space (40) that extends over a first angular region (43) around a first beam space axis (42) and over a second angular region (46) around a second beam space axis (44) and that is inclined around the first beam space axis (42) with reference to the working direction (A).

Provision is made according to the present invention that the sensor arrangement (30) extends along a sensor axis (36) and is arranged on the target vehicle (14); a reference detection region (34) on the sensor arrangement (30) being irradiated by the beam source (28); and the sensor axis (36) being arranged with an inclination around an inclination axis (54) parallel to the first beam space axis (42) so that a change in the vehicle spacing (D) results in a change in the position of the detection region (34) and thus in a change in the detection state of the sensor arrangement (30).

First target braking forces for front and rear wheels are calculated by distributing a target braking force of automatic braking to the front and rear wheels at a first front/rear wheel distribution ratio when braking operation is started by a driver during execution of the automatic braking control, second target braking forces for the front and rear wheels are calculated by distributing the braking force requested by the driver to the front and rear wheels at a second front/rear wheel distribution ratio preset to be different from the first front/rear wheel distribution ratio such that a pitch moment applied to a vehicle body due to braking forces of the front and rear wheels becomes zero, and braking forces of the front and rear wheels are controlled so as to be sums of the first and second target braking forces of the front and rear wheels, respectively.

In a monitoring apparatus, a disparity calculator obtains, for each point of a target object, a pair of matched pixel regions in respective base image and reference image corresponding to the point of the target object. The disparity calculator calculates a disparity of each of the matched pixel regions of the base image relative to the corresponding matched pixel region of the reference image. A distance calculator corrects the calculated disparity of each of the matched pixel regions of the base image in accordance with a tolerable disparity range for the disparity to thereby increase the calculated disparity of the corresponding one of the matched pixel regions of the base image. The distance calculator calculates the depth distance of each point of the target object relative to the vehicle as a function of the corrected disparity of the corresponding one of the matched pixel regions.

A braking control apparatus to be installed an electric vehicle includes an acceleration and deceleration operation member, a controller, and a recognizer. The acceleration and deceleration operation member receives an acceleration request in accordance with an operation amount in a first direction from a neutral position, and receive a deceleration request in accordance with an operation amount in a second direction from the neutral position. The controller controls an amount of power regenerated by a rotary electric machine driven by wheels in accordance with the operation amount in the second direction. The recognizer recognizes a preceding vehicle traveling ahead of the electric vehicle. Upon detection of the preceding vehicle at a relative distance from the electric vehicle that is equal to or less than a threshold, the controller performs braking suppression control to decrease the amount of power regenerated in accordance with the operation amount in the second direction.