The technology relates to determining whether a vehicle operating in an autonomous driving mode is experiencing an anomalous condition, for instance due to a loss of tire pressure, a mechanical failure, or a shift or loss of cargo. The actual current pose of the vehicle is compared to an expected pose of the vehicle, where the expected pose is based on a model of the vehicle. If a pose discrepancy is identified, the anomalous condition is determined from information associated with the pose discrepancy. The vehicle is then able to take corrective action based on the nature of the anomalous condition. The corrective action may include making a real-time driving change, modifying a planned route, alerting a remote operations center, or communicating with one or more other vehicles.

A road surface state determination apparatus includes a plurality of tire-side devices each of which detects vibration applied to corresponding tire and produces road surface data indicative of a road surface state based on data of the vibration, and a vehicle-body-side system that determines the road surface state based on the road surface data.

A control apparatus for a vehicle includes tire-force sensors, a tire-force estimator, a turning-state detector, and a warning unit. The tire-force sensors are disposed on respective wheels of the vehicle. The tire-force estimator estimates tire forces of the respective wheels on the basis of sensor signals outputted from the respective tire-force sensors. The turning-state detector detects a turning state of the vehicle. The warning unit generates a warning in a mode that differs depending on the turning state when at least one of the wheels is estimated to be in a limit state on the basis of the estimated tire forces.

A road surface determination apparatus includes an acceleration detector and a road surface determination unit. The acceleration detector is configured to detect an acceleration of a vehicle body or a vibration transmission member configured to transmit vibration from a tire to the vehicle body. The road surface determination unit is configured to determine a condition of a surface of a road, using a determination value obtained by extracting a component of a predetermined frequency band from the acceleration detected by the acceleration detector and integrating the component.

A tire mount sensor detects a road surface condition such as a type of a road surface and a road surface , and transmits road surface data indicating a detection result to a communication center. The communication center collects road surface data more precisely, and the vehicle receives the more precise road surface data from the communication center. Based on received more precise road surface data, the risk of the vehicle is determined. Thus, the road surface condition is detected using the tire mount sensor, so that the road surface condition is detected without braking. Accordingly, it is possible to detect the road surface condition with high frequency, so that the road surface condition is detected in wider area, and it is possible to perform the control more appropriately for avoiding the risk based on the road surface condition during a travel.

A method for parking a motor vehicle curbside by means of an apparatus, wherein, in a predetermined parking area, a height of a curb is detected by a first detection device of the apparatus, a profile of wheel pulses of a respective wheel sensor of at least one wheel is detected during a driving maneuver for curb parking in the predetermined parking area, and a crossing of the curb edge by the at least one wheel is detected by a second detection device of the apparatus. During the crossing of the curb edge, a correction measure for an odometry module of the apparatus is carried out as a function of the height of the curb.

Method and apparatus are disclosed for mobile device tethering for a remote parking assist system of a vehicle. An example vehicle includes a plurality of proximity sensors and a body control module. In response to detecting a mobile device proximate one of the proximity sensors, the body control module sends a location associated with the corresponding proximity sensor to the mobile device. The body control module receives, from the mobile device, a relative position of the mobile device from the location, and when the mobile device is within a threshold distance of the vehicle, enables autonomous parking.

A tire force estimation system includes a sensor, a sensor information acquisition unit, and a tire force calculator. The sensor measures a physical quantity of a tire. The sensor information acquisition unit acquires the physical quantity measured by the sensor. The tire force calculator includes an arithmetic model for calculating tire force F based on the physical quantity, and calculates the tire force F by inputting the physical quantity acquired by the sensor information acquisition unit into the arithmetic model.

A road surface condition assessing device includes a tire-side device disposed in a tire and a vehicle-body-side system disposed on a vehicle body side. The tire-side device generates a detection signal corresponding to a magnitude of vibration of the tire, produces road surface data based on the detection signal, and performs data communication with the vehicle-body-side system. The vehicle-body-side system performs the data communication with the tire-side device and assesses a road surface condition based on the road surface data received from the tire-side device.

A device for estimating a state of a road surface on which a tire is running, the device including: an acceleration sensor 11 installed in the tire; an acceleration information acquiring means 12, 13, 14 that acquires acceleration information input to the tire from an output of the acceleration sensor 11; a storage means 15 that stores acceleration information of each road surface roughness set in advance; and a road surface state estimating means 16 that compares the acquired acceleration information with the acceleration information of each road surface roughness stored in the storage means 15 so as to estimate the state of the road surface.