There is provided a portable electronic monitoring device for providing an in-vehicle user warning system about how a semi-autonomous vehicle is being driven autonomously during a driving period. The device is removably and securely mountable to the vehicle and comprises: a sensor set comprising at least one sensor for sensing an exterior environment outside of the vehicle and movement of the vehicle within the exterior environment, an interface for receiving user input commands and delivering a warning output; and a processor operatively connected to the sensor set and the interface; wherein the sensor set is configured to monitor the automatic operation of the semi-autonomous vehicle within the exterior environment during the driving period and to generate sensor data representing driving events concerning the automated driving behaviour of the vehicle with respect to the exterior environment occurring during the driving period. The processor is configured to: process the sensor data during the driving period to compare the detected automated driving behaviour of the vehicle in the external environment with a model of expected automated vehicle driving behaviour for a particular driving event; identify a dangerous driving event, if the detected automated driving behaviour deviates beyond a threshold from the expected automated vehicle driving behaviour; and if a dangerous driving event has been detected, generate a warning alert via the interface to alert the driver to the occurrence of the dangerous driving event.

Systems and methods for an autonomous vehicle are provided. In one aspect, an autonomous vehicle includes a perception sensor and a processor configured to: receive detected roadway conditions data including roadway grade data from the perception sensor, retrieve mapped data having grade data, and determine that the roadway has a grade based on the detected roadway grade data and the retrieved roadway grade data. The processor can be further configured to, in response to determining that the roadway has a grade, determine that the grade of the roadway is greater than or equal to a predetermined high grade value and less than a predetermined grade limit, and in response to determining that the grade of the roadway is greater than or equal to the predetermined high grade value and less than the predetermined grade limit, operate the autonomous vehicle to change lane to a right-most lane.

A method for controlling braking of an autonomous vehicle includes: recognizing, by a driving situation recognizer, a vehicle stop situation based on environment information around the vehicle; generating, by a deceleration profile generator, a n.sup.th-order polynomial-based deceleration profile having a plurality of inflection points (n being a natural number equal to or greater than three) when the vehicle stop situation is recognized; correcting, by a corrector, the n.sup.th-order polynomial-based deceleration profile by setting at least one of a response time of a decelerator, a mass of the vehicle during driving or a deceleration performance of a brake to a control variable; and executing, by a controller, braking of the vehicle based on the corrected n.sup.th-order polynomial-based deceleration profile.

A computer includes a processor and a memory storing instructions executable by the processor to identify a virtual boundary between a host roadway lane of a host vehicle and a target roadway lane of a target vehicle, the virtual boundary based on a predicted path of the target vehicle, determine a first constraint value based on a boundary approach velocity of the target vehicle, determine a second constraint value based on (1) a boundary approach velocity of the host vehicle and (2) a boundary approach acceleration of the host vehicle and perform a threat assessment of a collision between the host vehicle and the target vehicle upon determining that the first constraint value violates a first threshold or the second constraint value violates a second threshold.

A control allocation system for a vehicle includes an electric power steering (EPS) system, one or more redundant actuation systems for controlling a plurality of wheels of the vehicle, and one or more controllers in electronic communication with the EPS system and the one or more redundant actuation systems. The one or more controllers execute instructions to determine tracking errors and vehicle dynamics states based on a plurality of local path planning references and receive a fault signal indicating the EPS system is non-functional. In response to receiving the fault signal, the one or more controllers determine a plurality of corrective constraints in real-time. The one or more controllers solve a real-time constrained optimization problem for each sampling interval of the control allocation system to determine a plurality of control actions based on the plurality of corrective constraints and the tracking errors.

A method of controlling regenerative braking of a hybrid vehicle is provided. The method includes controlling, by a controller, a hybrid vehicle to start a braking operation in response to a brake pedal operation signal, and, after the braking operation of the hybrid vehicle is started, controlling, by the controller, a second motor that is connected to an output shaft of a transmission of the hybrid vehicle to perform regenerative braking.

A method is described for operating a motor vehicle, in which control is applied, in the context of a drive-off operation, to an electrical machine operable in motor mode in order to deliver a torque driving the vehicle, control simultaneously being applied to a braking system of the motor vehicle in such a way that it applies a braking torque.

A vehicle is a vehicle on which an autonomous driving kit (ADK) is mountable. The vehicle includes: a vehicle platform (VP) that controls the vehicle in accordance with an instruction from the ADK; and a vehicle control interface that serves as an interface between the ADK and the VP. The VP receives a driver deceleration request in accordance with an amount of depression of a brake pedal by a driver, and receives a system deceleration request from the ADK through the vehicle control interface. During an autonomous mode, the VP specifies the sum of the driver deceleration request and the system deceleration request as a target deceleration of the vehicle.

An autonomous system may selectively displace human driver control of a host vehicle. The system may receive an image representative of an environment of the host vehicle and detect an obstacle in the environment of the host vehicle based on analysis of the image. The system may monitor a driver input to a throttle, brake, and/or steering control associated with the host vehicle. The system may determine whether the driver input would result in the host vehicle navigating within a proximity buffer relative to the obstacle. If the driver input would not result in the host vehicle navigating within the proximity buffer, the system may allow the driver input to cause a corresponding change in one or more host vehicle motion control systems. If the driver input would result in the host vehicle navigating within the proximity buffer, the system may prevent the driver input from causing the corresponding change.

Aspects of the present invention relate to a method and to a control system for a vehicle, the method comprising: determining that a trigger condition is satisfied, wherein satisfaction of the trigger condition is dependent on a vehicle speed of the vehicle relative to at least one threshold speed, the at least one threshold speed having a value corresponding to is vehicle speed no greater than four metres per second; and based at least on the determination, controlling when a mode change between a first operating mode and a second operating mode is performed, wherein in the first operating mode the internal combustion engine is in a disconnected state not configured to provide tractive torque, and an electric machine is configured to provide tractive torque, and wherein in the second operating mode at least the internal combustion engine is in a connected state configured to provide tractive torque.