A work vehicle includes: a body; a traveling apparatus capable of a turning travel; a speed detector capable of detecting a vehicle speed; a steering tool manually operable to steer the traveling apparatus; a notification apparatus; and a controller. The controller is configured or programmed to control the traveling apparatus in response to a manual operation, with use of a travel control module; determine, based on a relationship between the vehicle speed and a steering angle of the steering tool, whether at least one of the vehicle speed and the steering angle needs to be reduced, with use of a determination module; and control the notification apparatus to give a notification of the determination by the determination module, with use of a notification module.

A method includes identifying a path to be followed by an ego vehicle. The method also includes determining a desired yaw rate and a desired yaw acceleration for the ego vehicle based on the identified path. The method further includes determining a desired yaw moment for the ego vehicle based on the desired yaw rate and the desired yaw acceleration. In addition, the method includes distributing the desired yaw moment to multiple wheels of the ego vehicle such that the distributed desired yaw moment creates lateral movement of the ego vehicle during travel along the identified path. In some cases, the desired yaw rate and the desired yaw acceleration for the ego vehicle may be determined based on nonlinear kinematics of the ego vehicle, and the desired yaw moment for the ego vehicle may be determined based on a single-track dynamic model of the ego vehicle.

A method of implementing autonomous emergency braking (AEB) for advanced driver-assistance systems (ADAS), the method includes receiving one or more first inputs and identifying one or more targets external to a host vehicle based on the one or more first inputs. The method further includes receiving one or more second inputs related to a turning status of the host vehicle and detecting a U-turn state associated with the host vehicle based on the one or more second inputs. The AEB algorithm may be modified in response to the detected U-turn state, wherein the AEB algorithm initiates an AEB event as necessary to avoid collisions with the one or more identified targets.

Methods and systems are provided for controlling an autonomous vehicle. In one embodiment, a method includes: A method of controlling an autonomous vehicle, comprising: receiving, by a processor, a first set of data obtained from an inertial measurement unit of the vehicle; receiving, by the processor, a second set of data obtained from a global positioning system of the vehicle; receiving, by the processor, a third set of data obtained from a camera of the vehicle; determining, by the processor, at least two vehicle states relative to markings of a lane by processing the first set of data, the second set of data, and the third set of data as measurement with an extended Kalman filter; and controlling, by the processor, the vehicle based on the at least two vehicle states.

Surrounding situation information of a vehicle is acquired. A steering torque applied by using a steering mechanism of the vehicle is detected. A steering angle and a steering direction of the vehicle are detected. Traveling control involving steering assist control is executed based on those pieces of information. In a case where a steering torque amount or the steering angle is detected, a new target lane keeping traveling path or a predetermined target lane departure prevention traveling path of the vehicle is created based on the steering torque amount, the steering angle, and the steering direction of the vehicle. In a case where the steering torque amount or the steering angle is detected again within a predetermined period, the new target lane keeping traveling path or the predetermined target lane departure prevention traveling path is set and traveling control is executed along the set traveling path.

A vehicle control device includes at least one electronic control unit configured to recognize at least one object, calculate a time to collision, operate first driving assistance, when the time to collision is equal to or less than a first threshold value, operate second driving assistance for avoiding the collision between the at least one object and the host vehicle or reducing damage of the collision, when the time to collision is equal to or less than a second threshold value smaller than the first threshold value, and set, while the first driving assistance is operated, the second threshold value to a second setting value smaller than a first setting value set when the first driving assistance is not operated, when a second target object causing the second driving assistance to operate is the same object as a first target object causing the first driving assistance to operate.

A method for determining a wheel radius of a motor vehicle, including calculating a yaw rate of the motor vehicle by means of a wheel speed of at least one wheel and a predefined wheel radius. The calculated yaw rate is compared with a measured yaw rate. The wheel speed is adapted. The calculation of the yaw rate is input, of the at least one wheel by means of a correction factor, so that the calculated yaw rate is equal to the measured yaw rate. The correction factor and the predefined wheel radius or the wheel speed is multiplied. The calculation of the yaw rate is input, for the determination of a corrected wheel radius or of a corrected wheel speed.

A vehicle control system includes: a travel control unit configured to switch a driving mode of a vehicle; a traveling state detecting unit configured to detect a traveling state of the vehicle; a generating unit configured to generate at least one turning line; an external environment recognizing device configured to detect a state of an external environment of the vehicle; a setting unit configured to set a traveling area in front of the vehicle in a traveling direction thereof; and a determining unit configured to determine whether the turning line is located in the traveling area. In a case where the determining unit determines that the turning line is not located in the traveling area while a manual driving mode is selected, the travel control unit switches the driving mode of the vehicle from the manual driving mode to an autonomous driving mode.

A vehicle control device causes an automatic brake to function even for an obstacle suddenly appearing from outside a sensor detection range in a place estimated to be dangerous such as an intersection. A vehicle control device calculates time-to-collision TTC based on a detection result of an obstacle sensor, and controls a brake, which is an actuator of a vehicle, based on the calculated time-to-collision TTC. The vehicle control device includes a determination unit that determines right turn or left turn of the vehicle, and a command unit that sends a command according to a determination result of the determination unit to the brake. When determining that the vehicle is turning right or left, the determination unit changes the time-to-collision TTC to a longer value by extending more than that at the time of traveling straight.

The present invention relates to a method and apparatus that utilize production vehicles to develop new path planning features for Automated Driving Systems (ADSs) by using federated learning. To achieve this the “under-test” path planning module's output is evaluated in closed-loop in order to produce a cost-function that is subsequently used to update or train a path planning model of the path planning development-module.