A method for updating a vehicle reference speed for a vehicle is disclosed. The method includes increasing brake pressure to at least one wheel of the plurality of wheels and determining, via an electronic control unit, that a first wheel speed of the at least one wheel is less than a second wheel speed of another wheel of the plurality of wheels. The method also includes estimating the vehicle reference speed of the vehicle based upon the first wheel speed of the at least one wheel.

There is provided a dump truck that, when drive wheels (6) slip, is capable of reducing braking torques for the drive wheels (6) to avoid locking of the drive wheels (6), and of generating braking torques for driven wheels (7) to ensure an overall braking torque for the vehicle. The dump truck includes a controller (13) outputting a regenerative torque command value corresponding to an operation amount of a brake pedal (8) to an inverter (11), causing the inverter to regeneratively control electric motors (10), a hydraulic valve (15) for generating a hydraulic pressure corresponding to an operation amount of a brake pedal (9), rear wheel brakes (16) actuated by the hydraulic pressure from the hydraulic valve (15), a higher-pressure selecting valve (19) for selecting a higher one of the hydraulic pressure from the hydraulic valve (15) and a hydraulic pressure from a solenoid proportional valve (18), and front wheel brakes (17) actuated by the hydraulic pressure selected by the higher-pressure selecting valve (19). The controller (13) reduces the regenerative torque command value and output a drive command value corresponding to the reduction amount of the regenerative torque command value to the solenoid proportional valve (18), when the controller (13) determines that slip ratios of the rear wheels (6) are equal to or larger than a predetermined value.

An autonomous emergency braking (AEB) system and method of a vehicle at crossdroads are disclosed. The AEB system includes a vehicle dynamics sensor, an around-view monitoring (AVM) sensor, and an electronic control unit (ECU). The vehicle dynamics sensor detects a driving speed of a host vehicle, and transmits the detected driving speed to the ECU. The AVM sensor detects a distance and relative speed between the host vehicle and a peripheral object, or transmits an image of a peripheral region of the host vehicle to the ECU. The ECU receives detection signals from the sensors, determines the presence or absence of a moving object approaching in a direction transverse to a traveling direction of the host vehicle at crossroads during driving of the host vehicle, selects the detected moving object as a control object using the detected moving object detection information if the presence of the approaching moving object is determined, and warns a driver of the host vehicle about a high possibility of collision with the selected control object or performs autonomous emergency braking (AEB) of the host vehicle according to information about a possibility of collision with the selected control object. Thus, even if one or more moving objects approaching in a direction transverse to the traveling direction of the host vehicle at crossroads are detected, the AEB system guarantees driving safety and stability of the host vehicle.

An object of the invention is to realize an M+ control which is suitable to a driving scene without depending on pedal operation information of a driver. A vehicle motion control device according to the invention sets an absolute value of deceleration generated in the vehicle in a period in which the lateral motion of the vehicle is predicted to be changed from a state where the vehicle takes the lateral motion to a state where the vehicle does not take the lateral motion to be smaller than that generated in a period in which the lateral motion of the vehicle is predicted to be changed from a state the vehicle takes one of right and left lateral motions to a state where the vehicle takes the other lateral motion.

An apparatus for determining a speed of a vehicle, in which the vehicle includes one or more sensors to determine a distance to or a relative speed of an object in an environment of the vehicle, and in which the apparatus includes a data interface and a processing module. The data interface is configured to receive sensor data from the one or more sensors, where the sensor data indicates the distance to and/or the relative speed of the object. The processing module is configured to determine (i) a motion state of the object based on the received sensor data, and (ii) the speed of the vehicle based on the determined motion state and the received sensor data.

A brake control system for operating brakes of an automated vehicle at slow speed includes a motion-detector and a controller. The motion-detector detects relative-movement of a host-vehicle relative to a stationary-feature located apart from the host-vehicle. The controller is configured to operate brakes of the host-vehicle. The controller determines a vehicle-speed of the host-vehicle based on the relative-movement when the vehicle-speed is less than a speed-threshold, and regulates brake-pressure of the brakes based on the vehicle-speed.

A method for carrying out autonomous braking in a two-wheeled motor vehicle, where the necessity of vehicle deceleration is detected with the aid of a surround sensor system. When vehicle deceleration is necessary, prior to its execution, a test braking action independent of a rider and of a predefined temporal length is carried out. During or after the execution of the test braking action, a rider readiness variable characterizing the readiness of the rider to master the vehicle deceleration detected as necessary is ascertained. After completion of the test braking action, the vehicle deceleration is initiated, the time characteristic of the vehicle deceleration being a function of the rider readiness variable.

A vehicle controller includes a collision detector, a braking controller, a motional state detector, and a minor collision determiner. The collision detector is configured to detect a collision between a vehicle and another object. The braking controller is configured to cause a braking device of the vehicle to generate a braking force in accordance with the detecting of the collision by the collision detector. The motional state detector is configured to detect a motional state of the vehicle. The minor collision determiner is configured to determine, based on an output from the motional state detector, that a minor collision occurs that is a collision not detected by the collision detector. The braking controller is configured to cause the braking device to generate the braking force if the collision detector does not detect the collision and the minor collision determiner determines that the minor collision occurs.

A computer-implemented method may include operating, by a processor device of a computer system, a vehicle at a predetermined speed. The method may further include receiving, from a sensor device, a sensor signal indicating an abnormal condition. The method may further include receiving, from a sensor device, a sensor signal indicating an abnormal condition. The method may further include, based on the sensor signal, determining, by the processor device, an operation risk. The method may further include, in response to determining the operation risk, activating, by the processor device, an alarm. The method may further include, in response to determining the operation risk, maintaining, by the processor device, operation of the vehicle at the predetermined speed.

This emergency evacuation device includes: an emergency stop requesting unit which detects abnormality from obstacle information acquired from an obstacle information acquisition unit and a roadside information acquisition unit and an occupant physiological state acquired from an occupant state information acquisition unit, and outputs an emergency stop request; a movement permission determination unit which determines movement permission for a mobile object, using the emergency stop request; a movement permission cancellation unit which determines whether or not to cancel movement permission for the mobile object, using a control state of the mobile object acquired from a mobile object state information acquisition unit; and a mobile object control unit which controls movement of the mobile object, using information about movement permission and cancellation of the movement permission. When movement is permitted and the movement permission is not cancelled, the mobile object is allowed to be moved within a certain limited range.