In a vehicle control device, a switching hyperplane generation unit generates a switching hyperplane based on a travel state of a vehicle and cornering stiffness dependent on a travel surface state as a state of a road surface on which the vehicle travels. A deviation computation unit calculates a deviation between a target trajectory and an actual trajectory of the vehicle. A state estimation unit estimates a state to be controlled of the vehicle based on the deviation calculated by the deviation computation unit. A target steering angle and acceleration/deceleration computation unit calculates a target steering angle and a target acceleration/deceleration rate of the vehicle based on the switching hyperplane generated by the switching hyperplane generation unit and an estimated state as the state estimated by the state estimation unit.

Vehicle movement in an automatic driving operation is regulated in an automatic driving operation, which is switchable between a regular operating mode and an emergency operating mode when a functional impairment of a main control device is established. In the regular operating mode, the regular desired trajectory, the emergency operation desired trajectory, and the lane course of a driving lane driven along by the vehicle are continuously determined in a coordinate system, fixed to the vehicle, of the main control device. The determined emergency operation desired trajectory and the determined lane course are supplied to the ancillary control device and stored there. In the emergency operating mode, the lane course of the driving lane driven along by the vehicle is determined in a coordinate system, fixed to the vehicle, of the ancillary control device. In the emergency operating mode, based on the lane course stored in the ancillary control device and the lane course stored in the ancillary control device, an angle error between the coordinate systems of the main control device and the ancillary control device is determined and its influence on the regulation carried out by the ancillary control device is compensated for.

The travel path generation device includes; a first path generation part that outputs a bird's-eye view travel path constituted of a bird's-eye view curvature component, a bird's-eye view angle component, and a bird's-eye view lateral position component; a second path generation part that outputs an autonomous travel path constituted of an autonomous curvature component, an autonomous angle component, and an autonomous lateral position component; and a path generation part that receives the outputs of the first path generation part and the second path generation part, sets up, based on the bird's-eye view curvature component, the autonomous angle component, and the autonomous lateral position component, a curvature component of the travel path of the host vehicle, an angle component to the travel path of the host vehicle, and a lateral position component to the travel path of the host vehicle, and generates the travel path of the host vehicle.

Technologies and techniques for the lateral control of a vehicle. Environment data of a vehicle is detected when travelling a route, and stored environment data, detected when travelling the route by a plurality of other vehicles not currently travelling the route, is received. The plausibility of the stored environment data is checked on the basis of the environment data detected. Lateral control of the vehicle is executed on the basis of the environment data checked for plausibility. The present disclosure also relates to an arrangement for the lateral control of a vehicle.

Technologies and techniques for the lateral control of a vehicle. Environment data of a vehicle is detected when travelling a route, and stored environment data, detected when travelling the route by a plurality of other vehicles not currently travelling the route, is received. The plausibility of the stored environment data is checked on the basis of the environment data detected. Lateral control of the vehicle is executed on the basis of the environment data checked for plausibility. The present disclosure also relates to an arrangement for the lateral control of a vehicle.

A method for minimizing disturbance due to wind forces of a trailer being towed by a vehicle. The method also includes receiving, at a data processing hardware data from a sensor system for the tow vehicle. The method also includes determining, at the data processing hardware, a passing object profile. The method also includes predicting, at the data processing hardware, a wind force profile based upon the sensor data the passing object profile. The method also includes determining, at the data processing hardware, at least one preventative action for the vehicle to minimize the effect of disturbance on the trailer.

Systems and methods for controlling an autonomous vehicle are disclosed herein. One embodiment determines a reference path for the autonomous vehicle along a roadway segment and steers the autonomous vehicle along a path that includes controlled back and forth lateral deviations from the reference path along the roadway segment to provide feedback to an occupant of the autonomous vehicle, the feedback indicating to the occupant that the autonomous vehicle is in an autonomous driving mode and that the autonomous driving mode is operating correctly.

Systems and methods for controlling an autonomous vehicle are disclosed herein. One embodiment determines a reference path for the autonomous vehicle along a roadway segment and steers the autonomous vehicle along a path that includes controlled back and forth lateral deviations from the reference path along the roadway segment to provide feedback to an occupant of the autonomous vehicle, the feedback indicating to the occupant that the autonomous vehicle is in an autonomous driving mode and that the autonomous driving mode is operating correctly.

Systems and methods of processing crowdsourced navigation information for use in autonomous vehicle navigation are disclosed. A method may include processing, by a mapping server, crowdsourced navigation information from a plurality of vehicles obtained by sensors coupled to the plurality of vehicles, wherein the navigation information describes road lanes of a road segment; collecting data about landmarks identified proximate to the road segment, the landmarking including a traffic sign; generating, by the mapping server, an autonomous vehicle map for the road segment, wherein the autonomous vehicle map includes a spline corresponding to a lane in the road segment and the landmarks identified proximate to the road segment; and distributing, by the mapping server, the autonomous vehicle map to an autonomous vehicle for use in autonomous navigation over the road segment.

An apparatus for a motor vehicle driver assistance system is provided. The apparatus is configured to optimise object clusters, where each object cluster includes a sequence of position measurements for at least one object in the vicinity of the vehicle. Initially, in a pre-clustering phase, the assignment of the measured object positions to the object clusters may be based on the relative proximity of the measured object positions. The apparatus identifies a rogue object cluster on the basis of a first diagnostic, and a rogue object track from the measurements within the rogue object cluster. The position measurements from the rogue object track are removed from the clusters, and remaining position measurements in the rogue object cluster are reassigned to the other object clusters. The rogue object cluster is removed. Thus the object clusters are optimised.