The disclosure relates to assessing and responding to wheel slippage and estimating road friction for a road surface. For instance, a vehicle may be controlled in an autonomous driving mode in order to follow a trajectory. A wheel of the vehicle may be determined to be slipping such that the vehicle has limited steering control. In response to determining that the wheel is slipping, steering of one or more wheels may be controlled in order to orient the one or more wheels towards the trajectory in order to allow the vehicle to proceed towards the trajectory when the wheel is no longer slipping. In addition, the road friction may be estimated based on the determination that the wheel is slipping. The vehicle may be controlled in the autonomous driving mode based on the estimated road friction.

A method for controlling a vehicle, an electronic device, a storage medium, and a vehicle are provided, related to a field of artificial intelligence technology, in particular to a field of autonomous driving and a field of computer vision. The method for controlling a vehicle includes: determining, in response to a request of switching to an autonomous driving mode, whether the vehicle is in a safe state; and controlling, in response to the vehicle being in the safe state, the vehicle to switch from a manual driving mode to the autonomous driving mode during travelling.

A vehicle includes a controller that identifies a target around the vehicle and calculates a danger range of the identified target, based on processing surrounding data obtained by sensor devices; calculates a danger range of the vehicle based on processing driving data obtained by sensor devices; determines a danger of collision based on the danger range of the target and the danger range of the vehicle, and control a driving apparatus based on the determined danger of collision. Such a vehicle and a control method thereof can make it possible to avoid a collision based on a danger range by calculating the danger range between the vehicle and a surrounding object of the vehicle depending on a factor causing uneasiness of a user.

An autonomous driving apparatus for generating an intersection path reflecting a driving record may include: a path generating device that generates information on a first path for driving of an autonomous vehicle at an intersection; a path comparison operating device that generates offset information between the generated information on the first path and information on a second path along which the autonomous vehicle is driving; a comparison operation evaluating device that determines whether to store the information on the second path based on the generated offset information; and a comparison operation storage that stores the information on the second path and the offset information based on the determination of whether to store the information on the second path.

A motor-vehicle path-controlling module is arranged to model the path of the vehicle during a change in traffic lane by a Bezier curve relating a value of a parameter to a value of a lateral deviation of the vehicle from the center of a traffic lane and to a value of a time-dependent variable representative of the variation in the change of path; determine a setpoint state vector of a closed feedback loop of a path-controlling device, the loop being designed to control the motor vehicle so that it follows the path modelled by the Bezier curve, the vector being determined on the basis of the lateral deviation, of the time-dependent variable and of the parameter, and transmit the setpoint state vector to the input of the loop.

A reverse direction traveling detection apparatus including a microprocessor. The microprocessor is configured to perform acquiring an actually measured road surface profile of a road surface on which a vehicle is traveling, determining a travel direction of the vehicle based on position information of the vehicle, further determining whether a coincidence degree between the actually measured road surface profile and a first reference road surface profile in a first lane is equal to or greater than a predetermined value when it is determined that the travel direction of the vehicle is a first direction, and determining whether the vehicle travels in reverse direction based on the actually measured road surface profile and a second reference road surface profile in a second lane when it is determined that the coincidence degree is less than the predetermined value.

An assistance system for a vehicle capable of automated operation has a controller having a processor and tangible, non-transitory memory on which instructions are recorded. The vehicle is located on a first lane in a vicinity of one or more neighboring vehicles, the first lane merging with a second lane at a merging trajectory location. The controller is adapted to selectively execute a leader determination module when a distance of the vehicle to the merge starting point is less than a threshold value. This includes determining an estimated arrival time of the vehicle to a merge starting point of the merging trajectory location. The controller is adapted to select a leader vehicle from the neighboring vehicles based in part on their respective estimated arrival times to the merge starting point. Operation of the vehicle is controlled based in part on the leader vehicle.

A system for determining a distance between a camera and a hitch ball of a vehicle. The system includes a camera configured to be mounted on a vehicle and an electronic processor connected to the camera. The electronic processor is configured to determine a first position and a second position associated with a point on a trailer, determine an angle of rotation between the first position and the second position, and using the first position, the second position, and the angle of rotation, determine a null space of a matrix. In one example, the matrix is

[00001]$A=\left[\begin{array}{ccccc}1& 0& 0& -{\mathrm{cu}}_{\mathrm{xo}}& {\mathrm{cl}}_x\\ 0& 1& 0& -{\mathrm{cu}}_{y0}& {\mathrm{cl}}_y\\ 0& 0& 0& {\mathrm{cu}}_{z0}& -{\mathrm{cl}}_z\\ 0& 0& 1& \frac{-{\mathrm{cu}}_{z0}}{{\mathrm{cu}}_{z1}}{\mathrm{cu}}_{x1}& {\mathrm{cl}}_x\\ -\cos \delta & \sin \delta & 1& 0& 0\end{array}\right]$

and the null space of the matrix includes a value of a distance (d.sub.l) between the camera and the hitch ball. The electronic processor is further configured to perform an autonomous or semi-autonomous vehicle operation based on the distance (d.sub.l) between the camera and the hitch ball.

A driving support apparatus comprises a controller for performing collision avoidance braking control and lane deviation suppressing control. When a performing condition of the lane deviation suppressing control is satisfied at a timing of the collision avoidance braking control is about to be performed, the controller makes direction determination processing for determining whether or not the own vehicle travels to a direction toward which it will collide with a target object or to a direction toward which it will avoid colliding with the target object. In the direction determination processing, when it is determined the own vehicle travels to a collision direction, the controller stops the lane deviation suppressing control to perform the collision avoidance braking control, and when it is determined the own vehicle travels to a collision avoidance direction, the controller performs cooperative control for making the lane deviation suppressing control cooperate with the collision avoidance braking control.

A system and method for controlling an autonomous vehicle to affect a view seen by an occupant of the autonomous vehicle is described. In one embodiment, a method for controlling an autonomous vehicle to affect a view seen by an occupant of the autonomous vehicle includes determining a navigation route, determining content associated with the navigation route, monitoring current conditions of the autonomous vehicle and the occupant, determining, based on the current conditions, whether to change a position of the vehicle to affect the view seen by the occupant, and when the current conditions permit, moving the autonomous vehicle to affect the view seen by the occupant.