The present invention relates to a power control method and terminal device for a hydraulic hybrid vehicle, and a storage medium. The method includes: S1: predicting, according to environmental information of a road ahead, recoverable energy in the road ahead; S2: calculating, according to the predicted recoverable energy, a critical pressure required by a hydraulic accumulator to recover the recoverable energy; and S3: determining whether a current pressure of the hydraulic accumulator is greater than the critical pressure, and if so, reducing fuel output power of an engine and controlling the hydraulic accumulator to release energy such that the current pressure of the hydraulic accumulator is less than or equal to the critical pressure. According to the present invention, when it is predicted that there is a high probability of energy recovery ahead, the energy stored in the hydraulic accumulator is used up in advance, so that the hydraulic accumulator has enough space to recover energy when the energy recovery occurs in future. This can make full use of the characteristic of the hydraulic accumulator of being suitable for frequent storage and release of energy, thereby achieving the economy of energy consumption of the whole vehicle.

A system for controlling an overtake maneuver of a control vehicle comprises a controller structured to determine an overtake velocity for the control vehicle traveling in a vehicle lane to overtake a front vehicle traveling ahead of the control vehicle in the vehicle lane. The controller determines an overtake time for the control vehicle to overtake the front vehicle based on the overtake velocity. The controller determines a direction of traffic in an overtake lane that is adjacent to the vehicle lane. If the direction of traffic in the overtake lane is the same as a direction of traffic in the vehicle lane, and the overtake velocity is less than or equal to an allowed velocity, the controller executes the overtake maneuver by one of adjusting a parameter of an engine and/or a transmission of the control vehicle or providing a command to an operator of the control vehicle.

A system for representing objects in a surrounding environment of a vehicle using a Frenet coordinate system. The system includes a memory and an electronic processor. The electronic processor is in communication with the memory and configured to, receive, from one or more sensors, input regarding one or more objects in the surrounding environment. The input includes, for each of the one or more objects, a representation of a location of the object in Cartesian coordinates. The electronic processor is further configured to convert the location of each object from Cartesian coordinates to Frenet coordinates and store the location of each object in Frenet coordinates in the memory.

Techniques for using a set of non-steering variables to estimate an angle of a wheel are described. For example, a yaw rate, a linear velocity of a wheel, and vehicle dimensions (e.g., offset between the wheel and a turn-center reference line), can be used to estimate the angle of the wheel. Among other things, estimating angles based on non-steering variables may provide redundancy (e.g., when determined in parallel with steering-based command angles or other commanded angles) and/or may be used to validate commanded angles based on steering components.

Systems and methods for general driving behavior of an autonomous vehicle are disclosed. In one aspect, an autonomous vehicle includes a trailer, at least one perception sensor, a non-transitory computer readable medium, and a processor. The processor is configured to estimate a grade of the roadway based on the perception data, provide a first control input to the autonomous vehicle based on the grade of the roadway, determine a response of the autonomous vehicle to the first control input based on the perception data, estimate a trailer load of the trailer based on the response of the autonomous vehicle to the first control input, and provide a second control input to the autonomous vehicle based on the grade of the roadway and the trailer load.

A high precision digital map is pre-developed and stored in a memory of an in-vehicle control computer on an autonomous vehicle. The digital map is updated by the in-vehicle control computer with detected roadway data that is a fusion of roadway perception data from at least one perception sensor on the autonomous vehicle and real time GPS signal from at least one GPS receiving devices on the autonomous vehicle. The updated digital map is transferred to a remote oversight system via a network communication subsystem, and the oversight system distributes the updated digital map to other autonomous vehicles connected over the network communication subsystem.

Systems and methods for detecting physical infrastructure related to navigation of an autonomous vehicle are disclosed. In one aspect, the autonomous vehicle includes a perception sensor configured to generate perception data, a non-transitory computer readable medium, and a processor. The processor is configured to determine a minimal risk condition (MRC) maneuver for the autonomous vehicle to execute, identify a safe zone in which the autonomous vehicle is able to execute the MRC maneuver by coming to a stop based on the perception data, identify one or more exclusion zones within the safe zone based on the perception data, and control the autonomous vehicle to execute the MRC maneuver including stopping outside of the exclusion zone.

Embodiments provide a vehicle computer coupled to a vehicle. The vehicle computer may be configured to compute (e.g., generate) an automated lane change maneuver moving the vehicle from a first lane into a second, adjacent lane. The lane change maneuver may have commenced while the maneuver was safe to conduct, but a threat vehicle (or another threat object) may be subsequently detected moving into the same target lane. The option to immediately abort the maneuver and return to the original lane may not be appropriate after some time into the lane change maneuver. The vehicle computer may control the vehicle in a lateral position hold along the lane demarcation line for a predetermined amount of time before moving into the second lane when the threat vehicle clears the second lane or returning to the first lane when the threat vehicle does not clear the second lane.

A vehicle is provided. The vehicle includes a plurality of sensors including a first sensor and a second sensor. The vehicle also includes a vehicle controller. The vehicle controller is programmed to (i) collect a first plurality of sensor information observed by the first sensor during operation of the vehicle; (ii) analyze the first plurality of sensor information to detect a gap along the vehicle's path of travel; (iii) compare one or more dimensions of the gap to one or more dimensions of the vehicle; (iv) receive a second plurality of sensor information from the second sensor; and (v) control the vehicle to travel through the gap based on the comparison of the one or more dimensions of the gap to the one or more dimensions of the vehicle and the second plurality of sensor information from the second sensor.

Disclosed herein are an apparatus and method for adaptive autonomous driving control. The apparatus includes memory in which at least one program is recorded and a processor for executing the program. The program may perform control of a target vehicle by converting a theoretical control value based on a vehicle control algorithm into a hardware-dependent control value, which is dependent on the platform or hardware of the target vehicle, and may modify at least one parameter or a conversion equation for conversion of the hardware-dependent control value such that an error is minimized based on the difference between a response value according to the control of the target vehicle and a control value.