A method for calculating a lateral position of an ego motor vehicle on a traffic lane includes calculating a first theoretical lateral position of the ego vehicle, calculating a second theoretical lateral position of the ego vehicle, calculating a third theoretical lateral position of the ego vehicle, calculating the lateral position of the ego vehicle using a weighted average of the first lateral position, the second lateral position, and the third lateral position.

An autonomous vehicle (AV) includes features that allows the AV to comply with applicable regulations and statutes for performing safe driving operation. Example embodiments relate to an autonomous vehicle having a trailer coupled to a rear thereof. An example method includes continuously predicting a trailer trajectory that is distinct from a planned trajectory of the autonomous vehicle. The method further includes determining that the predicted trailer trajectory is within a minimum avoidance distance away from a stationary vehicle located on a roadway on which the autonomous vehicle is located. The method further includes modifying the planned trajectory of the autonomous vehicle such that the predicted trailer trajectory satisfies the minimum avoidance distance. The method further includes causing the autonomous vehicle to navigate along the modified trajectory based on transmitting instructions to one or more subsystems of the autonomous vehicle.

The disclosure provides methods and apparatuses for determining a height of a road target in a driving process. One example method includes determining a target object on a road, and determining a height threshold of the road based on the target object, to obtain a maximum allowed height of the road.

A method for qualification of a camera system and/or its image/camera signals of a partially autonomously or autonomously driving vehicle. Infrastructure information from a vehicle's surroundings is used. The image/camera signal of the camera system is monitored by a monitoring function with regard to at least the following criteria: image/camera signal in recurring, known time windows, sequence of the image/camera signals, corruption of the image/camera signals, signature checking of the camera system. Checking of the image/camera signals using unmoving land markings that are reconciled with a list is carried out and they are checked for a mapping signature. Then the image/camera signals and the infrastructure information contained in the updated map check function are communicated to an evaluation function and merged and compared in a signal fusion unit. Consequently, a qualified image/camera signal is obtained.

There has been a problem that because in a section where a road forks from a main lane or merges the main lane, the number of lanes increases or decreases, breakage of a lane line and existence of other vehicles hinder the lane line from being read and hence generation of a target course becomes unstable. A course generation apparatus according to the present disclosure is provided with a prohibition-section determination unit that determines, in the case of forking from a main lane or merging with the main lane, that a present section is an environmental-information-course usage prohibition section, until a time when a vehicle position passes through a forking completion point or a merging completion point, and with a course selection unit that selects an environmental information course or a route-information course in a normal time and selects the route-information course in the environmental-information-course usage prohibition section.

A control device associated with an autonomous vehicle detects that an emergency personnel is altering traffic on a road using an emergency-related hand signal to divert the traffic from a road anomaly, such as a road accident. The control device determines an interpretation of the emergency-related hand signal. The control device determines a proposed trajectory for the autonomous vehicle according to the interpretation of the emergency-related hand signal. In certain embodiments, the control device may navigate the autonomous vehicle according to the interpretation of the emergency-related hand signal. In certain embodiments, the control device may transmit the proposed trajectory to an oversight server for confirmation. In certain embodiments, the oversight may confirm or override the proposed trajectory.

The present disclosure involves systems and methods for detecting road blockages and generating alternative routes. In some cases, a system detects, based at least in part on sensor data associated with an autonomous vehicle, a portion of an environment that impedes a planned path of the autonomous vehicle. The system determines a semantic classification associated with the portion of the environment and transmits a re-routing request comprising the semantic classification to one or more remote computing devices. The system receives an instruction associated with navigating the autonomous vehicle around the portion of the environment from the remote computing devices, where the instruction includes an alternative route determined from a plurality of alternative routes. The system further controls the autonomous vehicle to navigate around the portion of the environment based at least in part on the instruction.

An apparatus comprises a plurality of sensors, a digital map. and a control unit. The plurality of sensors may be configured to detect information about an exterior environment of a vehicle. The digital map may be configured to provide information about roadways in a vicinity of the vehicle. The control unit (i) may comprise an interface configured to receive (a) sensor status signals, (b) sensor-based information, and (c) map-based information, and (ii) may be configured to (a) determine whether an operational situation exists that is unsafe for an advanced driver-assistance systems (ADAS) automation feature to be activated or remain active based on the sensor-based information, the map-based information, and the sensor status signals, and (b) generate an activation control signal to restrict activation of the ADAS automation feature when an unsafe operational situation exists.

Systems and methods for assisting navigation of a vehicle are disclosed. In one embodiment, a method of assisting navigation of a vehicle includes receiving navigational data relating to an intended route of the vehicle, receiving object data relating to at least one external object detected within a vicinity of a current position of the vehicle, determining whether the at least one external object affects an ability of the vehicle to proceed along the intended route, and generating at least one instruction relating to the ability of the vehicle to proceed along the intended route.

A travel assistance method for performing a lane change of a host vehicle includes: detecting an oncoming vehicle traveling in an opposite lane from which the host vehicle travels when the host vehicle starts the lane change; determining a crossing point between a virtual advancing route and a linear advancing route in which the oncoming vehicle advances linearly, the virtual advancing route being a virtual extension of an advancing route of the host vehicle during a period from start to end of the lane change; executing a lane change using the route and the vehicle speed in a case where a time difference between a first predicted time and a second predicted time is outside a predetermined range; and when within the predetermined range, executing a lane change by changing at least one of the route and the vehicle speed such that the time difference is outside the predetermined range.