Systems and methods are provided for a selective disengagement mechanism that allows a vehicle passenger, e.g., driver, to pre-emptively prepare to override autonomous control of a vehicle. A selective disengagement switch may be actuated by the driver. An autonomous control system of the vehicle, unaware of the selective disengagement switch operation, may at some point erroneously command the vehicle to move. Because the driver has actuated the selective disengagement switch, upon receipt of the erroneous command to move the vehicle, the autonomous control system may be overridden. The driver need not react to a safety-critical event or scenario.

Systems and methods are provided for a selective disengagement mechanism that allows a vehicle passenger, e.g., driver, to pre-emptively prepare to override autonomous control of a vehicle. A selective disengagement switch may be actuated by the driver. An autonomous control system of the vehicle, unaware of the selective disengagement switch operation, may at some point erroneously command the vehicle to move. Because the driver has actuated the selective disengagement switch, upon receipt of the erroneous command to move the vehicle, the autonomous control system may be overridden. The driver need not react to a safety-critical event or scenario.

Systems and methods cause a component of a vehicle to activate. The systems and methods receive audio data generated by a microphone of the vehicle, where the audio data represents sound of the component. Based on the audio data, a condition of the vehicle or the component may be determined, and based on the condition, the vehicle may be commissioned for use or decommissioned.

Four-wheel steering of a vehicle, e.g., in which leading wheels and trailing wheels are steered independently of each other, can provide improved maneuverability and stability. A first vehicle model may be used to determine trajectories for execution by a vehicle equipped with four-wheel steering. A second vehicle model may be used to control the vehicle relative to the determined trajectories. For instance, the second vehicle model can determine leading wheels steering angles for steering leading wheels of the vehicle and trailing wheels steering angles for steering trailing wheels of the vehicle, independently of the leading wheels.

A vehicle diagnostic device includes: a communication unit that communicates with a vehicle which drives autonomously; and a diagnostic unit that performs, via the communication unit, diagnosis as to whether the vehicle is being hacked. The diagnostic unit performs the diagnosis by checking resilience of software which runs a travel system provided in the vehicle.

A system for on board diagnostic (OBD) vehicle communications that includes a vehicle communications device having a pin-connector adapted for connecting to a vehicle's OBD system and a network interface configured to perform network communications with a remote communications device connected with a vehicle scan and/or programming tool using a compatible pin-connector. The remote communications device includes a network interface configured to perform network communications with the vehicle communications device. The vehicle communications device is programmed and configured to receive communications from a vehicle's OBD system through its pin-connector and selectively filter communications based on message type received from OBD system. The selectively filtered communications are forwarded through a network to the remote communications device using the network interfaces.

Method and apparatus for cooperative early threat detection. In some aspects, the apparatus detects one or more object data signals having data that interferes with wireless resources utilized in automated driving decisions. The apparatus transmits, to at least a second wireless device, a message indicating the one or more object data signals having the data that interferes with wireless resources utilized in automated driving decisions. The one or more object data signals may correspond to a misbehaving wireless device. The data of the misbehaving wireless device may comprise implausible data related to at least one characteristic of the misbehaving wireless device.

Method and apparatus for cooperative early threat detection. In some aspects, the apparatus detects one or more object data signals having data that interferes with wireless resources utilized in automated driving decisions. The apparatus transmits, to at least a second wireless device, a message indicating the one or more object data signals having the data that interferes with wireless resources utilized in automated driving decisions. The one or more object data signals may correspond to a misbehaving wireless device. The data of the misbehaving wireless device may comprise implausible data related to at least one characteristic of the misbehaving wireless device.

The present invention realizes a vehicle control device that, even when power characteristics of a power generation device and a power transmission device changes, senses degradation of vehicle components, corrects a drive instruction to the power transmission device, and is thereby capable of stabilizing vehicle behavior over a long term. The present invention, in a predetermined vehicle environment state, measures fluctuation in drive power and acceleration in a transient region by using vehicle behavior sensors 4, performs comparison with a reference fluctuation, and thereby senses degradation of vehicle components. The drive instruction to the transmission 16-side is corrected in accordance with the degradation of vehicle components that is sensed. Thus, it is possible to stabilize vehicle behavior (performance) over a long term even when, during automated driving, the power characteristics of the drive power source and the transmission 16 change due to factors such as time degradation of vehicle components.

The present invention realizes a vehicle control device that, even when power characteristics of a power generation device and a power transmission device changes, senses degradation of vehicle components, corrects a drive instruction to the power transmission device, and is thereby capable of stabilizing vehicle behavior over a long term. The present invention, in a predetermined vehicle environment state, measures fluctuation in drive power and acceleration in a transient region by using vehicle behavior sensors 4, performs comparison with a reference fluctuation, and thereby senses degradation of vehicle components. The drive instruction to the transmission 16-side is corrected in accordance with the degradation of vehicle components that is sensed. Thus, it is possible to stabilize vehicle behavior (performance) over a long term even when, during automated driving, the power characteristics of the drive power source and the transmission 16 change due to factors such as time degradation of vehicle components.