A system for a lane keeping feature of a vehicle is provided. The lane keeping feature has a predefined safety requirement criterion for keeping the vehicle within bounds while the lane keeping feature is active. The system comprises a road estimation module and a trajectory planning module. The road estimation module is configured to receive sensor data comprising information about a surrounding environment of the vehicle, and to determine a drivable area based on the sensor data. The drivable area comprises a left boundary and a right boundary extending along a direction of travel of the vehicle, wherein each boundary comprises a plurality of points distributed along each boundary, each point being associated with a confidence level. The trajectory planning module is configured to receive the determined drivable area, and to determine a nominal trajectory for the vehicle based on the received drivable area.

A driving handover control device includes a memory and a processor coupled to the memory. In a case in which driving is handed over from a first state in which a vehicle is traveling by remote driving by a first driver from outside the vehicle or by occupant driving by the first driver in the vehicle, to a second state in which the vehicle travels by the remote driving or the occupant driving by a second driver who is different from the first driver, the processor is configured to cause transition from the first state to a third state in which the vehicle is caused to travel by automatic driving, and then cause transition from the third state to the second state.

A vehicle integrated controller includes an in-vehicle communication module configured to communicate with at least one controller mounted on the vehicle; a collection module configured to collect collection information including controller information, which is information on the at least one controller, through the in-vehicle communication module; and an aging abnormality processor configured to calculate an aged state or an abnormal state of the at least one controller based on the collection information, and when there exists a controller (hereinafter, “control target controller”) in the aged state or abnormal state among the at least one controller, calculate a value of a control parameter for the control target controller to maintain basic performance.

A vehicle integrated controller includes an in-vehicle communication module configured to communicate with at least one controller mounted on the vehicle; a collection module configured to collect collection information including controller information, which is information on the at least one controller, through the in-vehicle communication module; and an aging abnormality processor configured to calculate an aged state or an abnormal state of the at least one controller based on the collection information, and when there exists a controller (hereinafter, “control target controller”) in the aged state or abnormal state among the at least one controller, calculate a value of a control parameter for the control target controller to maintain basic performance.

A vehicle includes a controller area network (CAN) and a plurality of a controllers in communication with each other via the CAN, wherein each controller of the plurality of controllers is configured to time-stamp messages transmitted via the CAN using a vehicle-wide synchronized clock, determine a worst-case transmission delay via the CAN based on the time-stamps for messages received from other controllers of the plurality of controllers, and based on the worse-case transmission delay, set a dynamic recovery timer for a malfunctioning controller of the plurality of controllers to recover after its malfunction, wherein the dynamic recovery timer prevents a particular controller that was malfunctioning but has since recovered from being incorrectly designated as a malfunctioning controller in need of service.

The embodiments described herein concern a reconfigurable throttle-by-wire pedal subsystem for a vehicle and associated methods. One embodiment detects a pedal error in which a driver of the vehicle mistakenly actuates an accelerator foot pedal unit of the vehicle instead of a separate brake pedal of the vehicle, the accelerator foot pedal unit controlling a throttle of the vehicle, and performs the following in response to the detected pedal error: reconfiguring the accelerator foot pedal unit to control a braking subsystem of the vehicle instead of the throttle and reconfiguring a haptic feedback of the accelerator foot pedal unit from a throttle-by-wire mode to a brake-by-wire mode.

A driving handover control device includes a memory and a processor coupled to the memory. In a case in which driving is handed over from a first state in which a vehicle travels in accordance with instruction from a remote operator of the vehicle to a second state in which the vehicle travels in accordance with operation by a passenger of the vehicle, the processor implements a transition from the first state to a third state in which the vehicle travels autonomously without instruction from the remote operator or operation by the passenger, and, after the transition from the first state to the third state, implements a transition from the third state to the second state.

An object sensing device is configured to sense an object therearound using an ultrasonic sensor. The object sensing device comprises: a distance judgment portion that performs a judgement of a distance to the object therearound in accordance with received ultrasonic waves that are based on transmitted ultrasonic waves by the ultrasonic sensor; and a notification control portion that performs a predetermined notification operation in accordance with the received ultrasonic waves that are based on the transmitted ultrasonic waves. The notification control portion performs the predetermined notification operation when the distance judgement portion has continuously judged that the object is within a predetermined close range. The notification control portion fails to perform the predetermined notification operation when a judgement history of the distance to the object by the distance judgement portion indicates an abnormal appearance of the object within the predetermined close range.

This document discloses system, method, and computer program product embodiments for operating an autonomous vehicle (AV). For example, the method includes performing the following operations by a muxing tool when AV is deployed within a particular geographic area in a real-world environment: receiving perception data that is representative of at least one actual object which is perceived while AV is deployed within the particular geographic area in a real-world environment; receiving simulation data that represents a simulated object that could be perceived by AV in the real-world environment and that was generated using a simulation scenario which is selected from a plurality of simulation scenarios based on at least one of the particular geographic area in which AV is currently located and a current operational state of AV; and generating augmented perception data by combining the simulation data with the perception data.

Operating an autonomous machine using analysis of machine vibration while it is operational. Accelerometers are used to measure the machines vibrations while it is being operated. If the vibrations exceed a predetermined acceleration a controller adjust the velocity of the machine to prevent/reduce further vibrations.