A vehicle includes a camera obtaining image data for detecting a target in the external field of view, a radar obtaining radar data for detecting the target, and a controller configured to process the image data and the radar data, and controlling at least one of braking and steering devices based on a result of the processing, wherein the controller is configured to detect a target in a lane adjacent to the vehicle, and obtain a first index based on a lateral velocity of the target, a second index based on a heading angle of the target, and a third index based on a possibility of collision of the vehicle with the target, and when each of the first to third indexes corresponds to a predetermined output value, detect a cut-in attempt of the target, and control at least one of the braking and steering devices for adjusting an avoidance control timing for the target.

A vehicle includes a camera obtaining image data for detecting a target in the external field of view, a radar obtaining radar data for detecting the target, and a controller configured to process the image data and the radar data, and controlling at least one of braking and steering devices based on a result of the processing, wherein the controller is configured to detect a target in a lane adjacent to the vehicle, and obtain a first index based on a lateral velocity of the target, a second index based on a heading angle of the target, and a third index based on a possibility of collision of the vehicle with the target, and when each of the first to third indexes corresponds to a predetermined output value, detect a cut-in attempt of the target, and control at least one of the braking and steering devices for adjusting an avoidance control timing for the target.

Systems, devices, and methods for calibrating a camera of a vehicle. A system may include the camera configured to be attached to the vehicle and capture a video. The system may further include an output device having a display. The output device may be configured to receive the video and display the video, a first overlay over the video indicating a current center of field of view of the camera, and a second overlay over the video indicating an aligned center of field of view of the camera on the display. The first overlay may be aligned with the second overlay on the display of the output device or an aim of the camera may be manually changed until the first overlay aligns with the second overlay to calibrate the camera.

Systems, devices, and methods for calibrating a camera of a vehicle. A system may include the camera configured to be attached to the vehicle and capture a video. The system may further include an output device having a display. The output device may be configured to receive the video and display the video, a first overlay over the video indicating a current center of field of view of the camera, and a second overlay over the video indicating an aligned center of field of view of the camera on the display. The first overlay may be aligned with the second overlay on the display of the output device or an aim of the camera may be manually changed until the first overlay aligns with the second overlay to calibrate the camera.

In various embodiments, methods, systems, and vehicles are provided for executing a lane change for a host vehicle. In various embodiments, a method includes: receiving, by a processor, an indication that a lane change from an initial lane to an intended lane is desired for the host vehicle; defining, by the processor, an initial lane center target, a negotiation target, and an intended lane center target based on the desired lane change; and controlling, by the processor, the host vehicle to at least one of the initial lane center target, the negotiation target, and the intended lane center target based on a finite state machine, wherein the initial lane center target is at or in proximity to a determined center of the initial lane, wherein the intended lane center target is at or in proximity to a determined center of the intended lane, and wherein the negotiation target is offset from the initial lane center target and within the initial lane.

In various embodiments, methods, systems, and vehicles are provided for executing a lane change for a host vehicle. In various embodiments, a method includes: receiving, by a processor, an indication that a lane change from an initial lane to an intended lane is desired for the host vehicle; defining, by the processor, an initial lane center target, a negotiation target, and an intended lane center target based on the desired lane change; and controlling, by the processor, the host vehicle to at least one of the initial lane center target, the negotiation target, and the intended lane center target based on a finite state machine, wherein the initial lane center target is at or in proximity to a determined center of the initial lane, wherein the intended lane center target is at or in proximity to a determined center of the intended lane, and wherein the negotiation target is offset from the initial lane center target and within the initial lane.

A method for monitoring the state of charge of a traction battery of a hybrid vehicle includes comparison of an actual state of charge with a state of charge limit value. If an initial actual state of charge lies above the state of charge limit value, waiting for a debounce time and output of a positive testing if the actual state of charge still lies above the state of charge limit value. If the initial actual state of charge lies below the state of charge limit value, continuous calculating of a model state of charge and output of a positive testing if the model state of charge reaches the state of charge limit value and does not fall short of it again for at least the debounce time.

A method for monitoring the state of charge of a traction battery of a hybrid vehicle includes comparison of an actual state of charge with a state of charge limit value. If an initial actual state of charge lies above the state of charge limit value, waiting for a debounce time and output of a positive testing if the actual state of charge still lies above the state of charge limit value. If the initial actual state of charge lies below the state of charge limit value, continuous calculating of a model state of charge and output of a positive testing if the model state of charge reaches the state of charge limit value and does not fall short of it again for at least the debounce time.

The present disclosure relates to an overtaking estimating system for estimation of a minimum overtaking speed of a vehicle. The overtaking estimating system determines in view of a host vehicle a remaining distance of an overtaking lane contiguous to a driving lane of the host vehicle. The system further determines a delta distance between the host vehicle and a preceding vehicle positioned in the host vehicle driving lane. Moreover, the system determines a delta time for the host vehicle to reach the preceding vehicle. The system further determines, based on the delta distance, the delta time and a determined host vehicle speed, a speed of the preceding vehicle. Furthermore, the system determines, based on the remaining distance, the delta distance, the preceding vehicle speed, and an overtaking-affecting parameter, a minimum overtaking speed of the host vehicle for overtaking the preceding vehicle in the remaining distance of the overtaking lane.

The present disclosure relates to an overtaking estimating system for estimation of a minimum overtaking speed of a vehicle. The overtaking estimating system determines in view of a host vehicle a remaining distance of an overtaking lane contiguous to a driving lane of the host vehicle. The system further determines a delta distance between the host vehicle and a preceding vehicle positioned in the host vehicle driving lane. Moreover, the system determines a delta time for the host vehicle to reach the preceding vehicle. The system further determines, based on the delta distance, the delta time and a determined host vehicle speed, a speed of the preceding vehicle. Furthermore, the system determines, based on the remaining distance, the delta distance, the preceding vehicle speed, and an overtaking-affecting parameter, a minimum overtaking speed of the host vehicle for overtaking the preceding vehicle in the remaining distance of the overtaking lane.