One general aspect includes a system having a memory configured to include one or more executable instructions and a processor configured to execute the executable instructions, where the executable instructions enable the processor to estimate a rate of change of a hitch angle between a trailer and vehicle, the estimated rate of change of the hitch angle being based on a turn angle for a plurality of rear wheels of the vehicle as well as a speed of the vehicle.

A method and apparatus that control lateral movement of a vehicle are provided. The method includes receiving vehicle information and path information of the vehicle, determining a center of vehicle rotation from the vehicle information, minimizing a path tracking error based on the path information of the vehicle, determining a road wheel angle command or a steering torque command using non-linear optimization based on the minimized path tracking error, and controlling an actuator according to the road wheel angle command or steering torque command.

Provided are methods, systems, devices, and tangible non-transitory computer readable media for mapping geographical surfaces. The disclosed technology can access image data and sensor data. The image data can include a plurality of images of one or more locations and semantic information associated with the one or more locations. The sensor data can include sensor information associated with detection of one or more surfaces at the one or more locations by one or more sensors. One or more irregular surfaces can be detected based at least in part on the image data and the sensor data. The one or more irregular surfaces can include the one or more surfaces associated with the image data and the sensor data that satisfies one or more irregular surface criteria at each of the one or more locations respectively. Map data including information associated with the one or more irregular surfaces can be generated.

According to an aspect, there is provided a computer-implemented method for condition monitoring of a vehicle. The method comprises applying a dynamic model associated with a vehicle (800), the dynamic model having been determined by obtaining status information from at least one information bus of the vehicle, the status information providing real-time status information about the vehicle (200), obtaining, based on vehicle identity information, vehicle dynamics information (202), obtaining map data representing road characteristics of roads of a geographical area, the map data comprising two-dimensional road map data, three-dimensional road map associated with the roads, and road characteristics data (204), analyzing behavior of the vehicle based on the status information and the vehicle dynamics information (206), and computing a dynamic model for the vehicle by comparing the behavior of the vehicle to the map data (208); analyzing historical changes in at least one calibration parameter associated with the dynamic model of the vehicle (802); analyzing effects of the three-dimensional road map associated with the roads and the road characteristics data in at least one position on the behavior of the vehicle (804); and determining, based on the analyzed historical changes and the effects, at least one change in at least one vehicle characteristic (806).

A method for determining a drivable area by a vehicle. The method comprising; obtaining data related to a track of the vehicle, wherein the data comprises a plurality of corresponding positions, headings and articulation angles of the vehicle along the track, obtaining size information of the vehicle, determining a swept area of the vehicle for the track based on the data and on the size information of the vehicle, configuring a sensor on the vehicle to detect when the vehicle drives over an obstacle, recording any obstacles detected by the sensor, and determining the drivable area based on the swept area and on recorded obstacles.

The present disclosure relates to a method for estimating a wheel base length (D) of at least one trailer (10) of a vehicle combination (100) comprising a towing vehicle (1), the at least one trailer and more than one articulation joint (A1, A2), wherein the towing vehicle comprises at least one wheel identification sensor (2) for identifying wheels (11, 12, 13) of the at least one trailer, the method comprising the following steps: —(S1) performing a plurality of wheel identification measurements on at least one side of the at least one trailer, by means of the at least one sensor during use of the vehicle combination, —(S2) determining a number of identifiable active wheels on the at least one side of the at least one trailer in each one of the plurality of wheel identification measurements, —(S3) determining a total number of active wheels on the at least one side of the at least one trailer, wherein the total number of active wheels is determined based on at least one of the plurality of wheel identification measurements in which a maximum number of identifiable active wheels was determined, —(S4) determining a position of each identifiable active wheel at least from the at least one of the plurality of wheel identification measurements in which the maximum number of active wheels was determined, and —(S5) estimating the wheel base length based on the determined position of each active wheel.

A dynamic velocity planning method for an autonomous vehicle is performed to plan a best velocity curve of the autonomous vehicle. An information storing step is performed to store an obstacle information, a road information and a vehicle information. An acceleration limit calculating step is performed to calculate the vehicle information according to a calculating procedure to generate an acceleration limit value range. An acceleration combination generating step is performed to generate a plurality of acceleration combinations according to the obstacle information, the road information, and the acceleration limit value range. An acceleration filtering step is performed to filter the acceleration combinations according to a jerk threshold and a jerk switching frequency threshold to obtain a selected acceleration combination. An acceleration smoothing step is performed to execute a driving behavior procedure to adjust the selected acceleration combination to generate the best velocity curve.

A hybrid vehicle for anti-rollover through active control of an engine and an anti-rollover control method for the same, may include detecting a roll angle of the vehicle, and when the detected roll angle is equal to or greater than a threshold roll angle, accelerating or decelerating, by a controller, the engine in a state in which the engine clutch is released depending on a direction of the roll angle.

The present disclosure discloses a method for monitoring driving behavior risk degree, including: acquiring first vehicle size information of a first vehicle, second vehicle size information of a second vehicle, vehicle driving information and vehicle driving environment information; determining the number of overlapping regions of the first vehicle and the second vehicle based on the first vehicle size information, the second vehicle size information and the vehicle driving information; and determining risk degree information of driving behavior based on the number of overlapping regions, the vehicle driving information and the vehicle driving environment information. This method may be applied in multiple scenarios, and facilitates drivers or passengers in avoiding them from traffic collision incidents, so that the safeties of the drivers and the passengers is greatly improved.

A method for determining the values of parameters for a controller of a vehicle, wherein respective error measures are calculated for different sets of values and a set of values is selected based on the error measures.