Techniques are provided which may be implemented using various methods and/or apparatuses in a vehicle to utilize vehicle external sensor data, vehicle internal sensor data, vehicle capabilities and external CV2X input to determine, send, receive and utilize data elements to determine inter-vehicle spacing, intersection priority, lane change behavior and spacing and other autonomous vehicle behavior.

This disclosure relates to a system and method for transitioning vehicle control between autonomous operation and manual operation. The system includes sensors configured to generate output signals conveying information related to the vehicle and its operation. During autonomous vehicle operation, the system gauges the level of responsiveness of a vehicle operator through challenges and corresponding responses. The system determines when to present a challenge to the vehicle operator based on internal and external factors. If necessary, the system will transition from an autonomous operation mode to a manual operation mode.

A regenerative torque control unit is configured to reduce a regenerative torque and increase a rising gradient of the regenerative torque at a start of regeneration when a road surface friction coefficient acquired by a road surface friction coefficient acquisition unit is low as compared to when the road surface friction coefficient is high. Thus, it is possible to suppress occurrence of a slip on a low μ road, and it is less likely to provide a feeling of strangeness from a change between a low μ road and a high μ road.

The disclosed invention makes use of slip related values to calculate friction related values and tire stiffness related values and feeds back an estimated tire stiffness relates value or a calculated friction related as a basis for further calculations. In particular, the disclosure relates to methods, apparatuses and computer program products to achieve the mentioned objective.

Embodiments of this application disclose a vehicle control method and device, where the method includes: calculating a longitudinal force interference compensation torque and a lateral force interference compensation torque of a vehicle when a flat tire occurs in the vehicle; calculating a feedback control torque of the vehicle; determining an additional yaw moment based on the longitudinal force interference compensation torque, the feedback control torque, and the lateral force interference compensation torque; and controlling, based on the additional yaw moment, a wheel in which the flat tire occurs.

A distributed computing system for determining road surface traction capacity for roadways located in a common spatio-temporal zone includes a plurality of vehicles that each include a plurality of sensors and systems that collect and analyze a plurality of parameters related to road surface conditions in the common spatio-temporal zone. The distributed computing system also includes one or more central computers in wireless communication with each of the plurality of vehicles. The one or more central computers execute instructions to determine a road surface traction capacity value for the common spatio-temporal zone.

A method for operating a single-track or multi-track vehicle including a driver-assistance system. In the method, a speed of the vehicle and a distance of the vehicle from a vehicle in front are controlled. The speed is controlled within a system-related speed range of the driver-assistance system using a position of an operating element of the vehicle and is controlled up to an optional target speed that is selectable within the speed range. Before an upper limit of the speed range is exceeded, a warning signal is provided to a driver of the vehicle. The distance is controlled within the speed range in a speed-dependent distance buffer region depending on the position.

The technology employs a variable motion control envelope that enables an on-board computing system of a self-driving vehicle to estimate future vehicle driving behavior along an upcoming path, in order to maintain a desired amount of control during autonomous driving. Factors including intrinsic vehicle properties, extrinsic environmental influences and road friction information are evaluated. Such factors can be evaluated to derive an available acceleration model, which defines an envelope of maximum longitudinal and lateral accelerations for the vehicle. This model, which may identify dynamically varying acceleration limits that can be affected by road conditions and road configurations, may be used by the on-board control system (e.g., a planner module of the processing system) to control driving operations of the vehicle in an autonomous driving mode.

A vehicle speed control system that carries out a method of: automatically causing application of positive and negative torque to one or more wheels of a vehicle to cause a vehicle to travel in accordance with a target speed value v_target; controlling a rate of change of speed of the vehicle by application of positive and negative torque to one or more wheels; and receiving information relating to a terrain response mode in which the vehicle is configured or an amount of drag imposed on a vehicle. The system is configured to control the rate of change of speed in dependence at least in part on the terrain response mode, the amount of drag imposed on the vehicle, or both.

A method for adjusting a safety margin threshold of one or more driver support functions of a vehicle, to be suitable for a driving zone in which the vehicle is—or is to be—positioned comprises determining a geographical position of the vehicle, determining a driving zone associated with the vehicle position, which driving zone is selected from one or more pre-defined geographical driving zones, deriving previous statistical driving behaviour data indicative of one or more statistical driving style safety indicators associated with the driving zone, and adjusting a safety margin threshold of at least a first driver support function of the vehicle, based on the one or more statistical driving style safety indicators. The disclosure also relates to a driver support threshold adapting system in accordance with the foregoing, and a vehicle at least partly comprising such a driver support threshold adapting system.