Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode or an autonomous vehicle. For instance, a polygon representative of the shape and location of a first object may be received. A polyline contour representation of a portion of a polygon representative of the shape and location of a second object may be received. The polyline contour representation may be in half-plane coordinates and including a plurality of vertices and line segments. Coordinates of the polygon representative of the first object may be converted to the half-plane coordinate system. A collision location between the polyline contour representation and the polygon representative of the first object may be determined using the converted coordinates. The autonomous vehicle may be controlled in the autonomous driving mode to avoid a collision based on the collision location.

Systems and methods are provided for using sensors and signal processing to detect vehicle surface impacts. In particular, a sensor and signal processing approach is provided for detecting impacts, with the results having a low false positive rate. The approach reduces operator costs by reducing operator involvement through improved automated detection technology. Additionally, systems and methods are provided for distinguishing chassis-driven fascia vibration from impact-driven fascia vibration.

A vehicle may include a camera configured to obtain image data associated with an image. The image may include a trailer being in proximity to the vehicle in an external field of view. The vehicle may further include a radar associated with a second external field of view of the vehicle and configured to obtain radar data associated with the trailer in the second external field of view, and a controller. The controller may be configured to determine whether the trailer is coupled to the vehicle by processing the image data and the radar data, perform at least one of: generating a warning signal or controlling a braking device based on a forward collision-avoidance assist (FCA) function, and change at least one of: a timing of the generating the warning signal or an operation of the controlling the braking device based on the trailer being coupled to the vehicle.

A proactive, prophylactic vehicle fluid capture system that embodies an inflatable air-diaper disposed under the engine. The inflatable air-diaper is deployed upon an indication of a sufficient crash event, wherein the deployed inflatable air-diaper catches the above-mentioned vehicular fluid prior to contact with the surrounding ground, thereby lessening the negative environmental impact and clean-up time resulting from the crash event. The inflatable air-diaper may deploy with peripheral sidewalls to facilitate the retention of the hazardous fluid on the inflatable air-diaper. The inflatable air-diaper is made of material adapted to absorb these hazardous vehicular fluids.

Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode or an autonomous vehicle. For instance, a polygon representative of the shape and location of a first object may be received. A polyline contour representation of a portion of a polygon representative of the shape and location of a second object may be received. The polyline contour representation may be in half-plane coordinates and including a plurality of vertices and line segments. Coordinates of the polygon representative of the first object may be converted to the half-plane coordinate system. A collision location between the polyline contour representation and the polygon representative of the first object may be determined using the converted coordinates. The autonomous vehicle may be controlled in the autonomous driving mode to avoid a collision based on the collision location.

Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode or an autonomous vehicle. For instance, a polygon representative of the shape and location of a first object may be received. A polyline contour representation of a portion of a polygon representative of the shape and location of a second object may be received. The polyline contour representation may be in half-plane coordinates and including a plurality of vertices and line segments. Coordinates of the polygon representative of the first object may be converted to the half-plane coordinate system. A collision location between the polyline contour representation and the polygon representative of the first object may be determined using the converted coordinates. The autonomous vehicle may be controlled in the autonomous driving mode to avoid a collision based on the collision location.

Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode or an autonomous vehicle. For instance, a polygon representative of the shape and location of a first object may be received. A polyline contour representation of a portion of a polygon representative of the shape and location of a second object may be received. The polyline contour representation may be in half-plane coordinates and including a plurality of vertices and line segments. Coordinates of the polygon representative of the first object may be converted to the half-plane coordinate system. A collision location between the polyline contour representation and the polygon representative of the first object may be determined using the converted coordinates. The autonomous vehicle may be controlled in the autonomous driving mode to avoid a collision based on the collision location.

A proactive, prophylactic vehicle fluid capture system that embodies an inflatable air-diaper disposed under the engine. The inflatable air-diaper is deployed upon an indication of a sufficient crash event, wherein the deployed inflatable air-diaper catches the above-mentioned vehicular fluid prior to contact with the surrounding ground, thereby lessening the negative environmental impact and clean-up time resulting from the crash event. The inflatable air-diaper may deploy with peripheral sidewalls to facilitate the retention of the hazardous fluid on the inflatable air-diaper. The inflatable air-diaper is made of material adapted to absorb these hazardous vehicular fluids

In embodiments, an automatic guided vehicle includes a vehicle, a lift unit, a bumper, an extension detector, and a bumper controller. The vehicle is movable in at least a first direction. The lift unit is provided in the vehicle and lifts an object from below the object. The bumper is provided in the vehicle and is extendable and contractible in the first direction. The extension detector detects that the bumper has extended outward from the object in the first direction. The bumper controller controls a state of the bumper according to a conveyance state of the object by the vehicle.

Provided is a vehicle-use object protection device to suitably protect an object to be protected when the object collides with a vehicle. The device includes: a protection mechanism to protect the object from a collision with the vehicle; a collision prediction unit to predict a collision inclusive of a collision between the vehicle and at least a cyclist; a sensor to output an output value depending on an impact state when the vehicle collides with the object; and a control device. The control device compares the output value with a predetermined threshold, and activates the protection mechanism when the output value exceeds the threshold and then lowers the threshold when the collision prediction unit determines that the vehicle would collide with a cyclist.