A method for predicting, for a motor vehicle traveling on a first road segment, a future coefficient of friction of the vehicle on a second road segment. The method includes steps of obtaining operating parameters of the vehicle and at least one characteristic of the first road segment, of computing an indicator on the basis of the obtained operating parameters of the vehicle, of determining a frictional category of the vehicle according to the value of the computed indicator and of the at least one obtained characteristic of the road segment, of selecting a friction profile of the vehicle on the basis of the determined frictional category, and of determining a coefficient of friction of the vehicle by applying the selected profile to at least one characteristic of the second road segment. A device for implementing the prediction method is also disclosed.

A method for generating an actuation signal for a driver assistance system and/or a system for the at least partially automated control of a vehicle. In the method, suggestions are made available for trajectories to be traveled by the vehicle and/or for other actions to be triggered that affect the driving dynamics of the vehicle. The suggestions are evaluated by a cost function, this cost function including a weighted sum of multiple cost terms, the weights being dynamically adapted. Utilizing the evaluations ascertained using the cost function, at least one trajectory or action is selected from among the suggestions. At least one actuation signal is generated that when conveyed to the driver assistance system or the system for the at least partially automatic control of the vehicle, induces the respective system to travel the selected trajectory with the vehicle or to trigger the suggested action.

A vehicle with one-pedal driving mode includes a first axle having a first electric machine configured to power first wheels and a second axle having a second electric machine configured to power second wheels. A controller is programmed to, in response to a request for one-pedal driving mode, map pedal positions of the accelerator pedal to speeds of the first and second wheels such that each of the pedal positions corresponds to a driver-demanded speed of the first and second wheels, and control one or more of the electric machine so that the vehicle is propelled according to the driver-demanded speed.

There is provided a traveling control device capable of appropriately performing collision avoidance by using not only a region inside a lane of an own vehicle but also a region outside the lane of the own vehicle. A traveling control device includes an acceleration calculation unit which obtains an acceleration of a target object from information of an outside recognition sensor, a behavior estimation unit which estimates a behavior of the target object from the acceleration, a TTC calculation unit which obtains a time to collision from the information of the outside recognition sensor, a determination unit which determines a risk region based on outputs of the TTC calculation unit and the behavior estimation unit, and a collision avoidance operation control unit which controls a collision avoidance operation for the target object based on a result of the determination unit.

A vehicle control device includes a recognizer configured to recognize a surrounding situation of a host vehicle and a driving controller configured to control acceleration/deceleration and steering of the host vehicle on the basis of a recognition result of the recognizer, wherein the driving controller holds a target position selected from one or more target position candidates from a start time point according to a type of lane change to a point in time at which a prescribed condition is satisfied when the driving controller causes the host vehicle to make the lane change.

The present invention relates to a method for having a vehicle (100) follow a desired curvature path (C1), said vehicle (100) comprising at least one differential (10, 20, 30) with a differential lock connected to at least one driven wheel axle (40, 50) of said vehicle (100), said method comprising at least the following steps: —providing (S1) information regarding state of said differential lock, said state being either that said differential lock is activated or unlocked, and when said differential lock is activated: —calculating (S2) a yaw moment, M.sub.diff, of said vehicle (100), caused by said differential lock; and —compensating (S3) for a deviation from said desired curvature path (C1) caused by said yaw moment, M.sub.diff, such that a resulting steering angle is equal to or less than a maximum allowed steering angle of said vehicle (100), whereby said compensation is a feed forward compensation. The invention also relates to a control unit, a vehicle, a computer program and a computer readable medium.

A method for estimating a tire property of a vehicle based on tire-to-road friction properties for a fleet of vehicles. The method includes: determining a tire-to-road friction for a plurality of vehicles, belonging to the fleet of vehicles, at a plurality of specified locations; determining a reference tire-to-road friction for the fleet of vehicles at each specified location; in a vehicle, determining a current tire-to-road friction at a first location being one of the specified locations; determining a difference between the current tire-to-road friction and the reference tire-to-road friction of the fleet for the first location; and estimating a tire property of the vehicle based on the determined difference. There is also provided a system configured to perform the described method.

An automotive adaptive cruise control system for a host motor vehicle configured to operate in at least two different operating modes comprising a first operating mode, in which a current speed of the host vehicle is controlled to maintain a cruise speed, and a second operating mode, in which the current speed of the host vehicle is controlled to maintain a cruise distance to a leading vehicle, wherein the system is configured to: detect approaching to a traffic light and determine a light signal emitted thereby, signal to the driver the presence of the detected traffic light and the determined light signal, if the traffic light emits a red or amber light signal, estimating a driver reaction time, determining a higher threshold distance and a lower threshold distance from the traffic light, and warning the driver of the host vehicle of the need to slow it down if, after the driver reaction time has elapsed: i) the host motor vehicle has not decreased its speed by more than a calibratable threshold, ii) the current speed of the host vehicle is higher than a minimum speed, iii) either the distance of the host vehicle from the traffic light is lower than the higher threshold distance and the light signal emitted by the traffic light is red, or the distance of the host vehicle from the traffic light is between the higher and lower threshold distances and the light signal emitted by the traffic light is amber, and iv) a service brake of the host vehicle is unoperated.

A vehicular control system includes a camera disposed at an in-cabin side of a windshield of a vehicle, the camera viewing forward of the vehicle through the windshield, and the camera capturing image data representative of at least an upcoming road surface of a road ahead of the vehicle. The vehicular control system, via processing at an image processor of image data captured by the camera, determines traction condition of at least a portion of the imaged upcoming road surface that is ahead of the vehicle. The vehicular control system, via processing at the image processor of captured image data, determines a change in traction condition ahead of the vehicle and adjusts an adaptive cruise control system of the vehicle responsive at least in part to the determined change in traction condition ahead of the vehicle.

Technologies and techniques for ascertaining a vehicle trajectory, via a system that includes a motor vehicle and a network server. Individual trajectories of a plurality of motor vehicles being traversed, and secondary information linked to the individual trajectories are detected. The individual trajectories of the plurality of motor vehicles, and the linked secondary information may be transmitted to a network server. A swarm trajectory may be ascertained by a network server as an average of the individual trajectories using the individual trajectories and the linked secondary information, wherein the average may be weighted using the secondary information. The network server may transmit the swarm trajectory to at least one motor vehicle. An associated motor vehicle configured for the system and network server is further disclosed.