A self-propelled apparatus includes a main body and an anti-drop system. The main body includes an aperture located at a bottom portion thereof and communicative with an interior thereof. The anti-drop system located inside the main body respective to the aperture includes an infrared detection module and an angle-limiting unit electrically coupled with the infrared detection module. The infrared detection module detects a distance between the bottom portion and a first detection surface. The infrared detection module includes an infrared emitting unit and an infrared receiving unit. The infrared emitting unit emits an infrared signal to the first detection surface. The infrared signal produces a first boundary signal and a second boundary signal after the infrared signal passes through the angle-limiting unit. The infrared receiving unit receives a reflected signal of the first boundary signal with respect to the first detection surface.

Provided is a vehicle travel control apparatus, mounted on a host vehicle, which performs travel control of the host vehicle on the basis of a positional relationship between the host vehicle and a preceding vehicle traveling ahead of the host vehicle, the vehicle travel control apparatus including a millimeter wave sensor that acquires target data of the preceding vehicle by receiving a reflected wave of an emitted electromagnetic wave; and an ECU that determines the presence or absence of a preceding vehicle traveling directly ahead of the host vehicle on the basis of the target data acquired by the millimeter wave sensor and that performs acceleration and deceleration control of the host vehicle on the basis of the presence or absence of the preceding vehicle. The ECU performs the acceleration and deceleration control of the host vehicle so that the acceleration or deceleration is suppressed in a case of the occurrence of target misidentification in which the millimeter wave sensor acquires a plurality of pieces of target data with respect to the same object.

A self-propelled apparatus includes a main body and an anti-drop system. The main body includes an aperture located at a bottom portion thereof and communicative with an interior thereof. The anti-drop system located inside the main body respective to the aperture includes an infrared detection module and an angle-limiting unit electrically coupled with the infrared detection module. The infrared detection module detects a distance between the bottom portion and a first detection surface. The infrared detection module includes an infrared emitting unit and an infrared receiving unit. The infrared emitting unit emits an infrared signal to the first detection surface. The infrared signal produces a first boundary signal and a second boundary signal after the infrared signal passes through the angle-limiting unit. The infrared receiving unit receives a reflected signal of the first boundary signal with respect to the first detection surface.

A vehicle control apparatus includes a branched lane determination section for determining whether an own vehicle lane in which an own vehicle is travelling is a branched lane, a reference line selection section for selecting as a reference line a lane marking on a side opposite to a side on which a branch lane branches from the own vehicle lane, a vehicle control unit for controlling the own vehicle to travel following an object preceding vehicle as a following control object, and a propriety determination section for excluding the object preceding vehicle from being the following control object if the own vehicle lane is determined to be a branched lane and a state quantity based on an offset distance between a movement track of the object preceding vehicle and the reference line exceeds a predetermined threshold.

The present invention provides a sensing apparatus for a vehicle, the apparatus including: a sensing unit that is configured to sense at least one of vehicle speed information, yaw rate information, and steering angle information, and to sense a forward object existing within a sensing distance set in advance; a calculator that is configured to calculate at least one of a driving curvature radius, which is calculated based on the vehicle speed information and the yaw rate information, and a steering angular speed, which is calculated based on the steering angle information; and an adjusting unit that is configured to adjust the sensing distance to be decreased when the driving curvature radius is less than, or equal to, a predetermined curvature radius or when the steering angular speed is less than, or equal to, a predetermined angular speed.

Disclosed is a vehicle that may include a frame to support a power system, such as an engine, and one or more surface supports, such as wheels, to support the frame. The engine may include an internal combustion engine and a fuel supply system therefore. The engine may provide power to drive the wheels.

The display system includes a lane line recognition unit configured to recognize a lane line of a traveling lane of the host vehicle based on a detection result of a camera of the host vehicle, a road edge structure recognition unit configured to recognize a road edge structure positioned outside the lane line based on a detection result of a sensor of the host vehicle, and a display control unit configured to control a display of the in-vehicle display based on recognition results of the lane line recognition unit and the road edge structure recognition unit. The display control unit is configured to display a road edge structure icon corresponding to the road edge structure on the in-vehicle display when the lane line is not recognized and the road edge structure is recognized.

Systems and methods for detecting and tracking objects are provided. In one example, a computer-implemented method includes receiving sensor data from one or more sensors. The method includes inputting the sensor data to one or more machine-learned models including one or more first neural networks configured to detect one or more objects based at least in part on the sensor data and one or more second neural networks configured to track the one or more objects over a sequence of sensor data. The method includes generating, as an output of the one or more first neural networks, a 3D bounding box and detection score for a plurality of object detections. The method includes generating, as an output of the one or more second neural networks, a matching score associated with pairs of object detections. The method includes determining a trajectory for each object detection.

Systems and methods for detecting and tracking objects are provided. In one example, a computer-implemented method includes receiving sensor data from one or more sensors. The method includes inputting the sensor data to one or more machine-learned models including one or more first neural networks configured to detect one or more objects based at least in part on the sensor data and one or more second neural networks configured to track the one or more objects over a sequence of sensor data. The method includes generating, as an output of the one or more first neural networks, a 3D bounding box and detection score for a plurality of object detections. The method includes generating, as an output of the one or more second neural networks, a matching score associated with pairs of object detections. The method includes determining a trajectory for each object detection.

A battery protection device includes a LiDAR device or a camera that detects an obstruction that is present in a direction of travel of a vehicle that includes a battery that is disposed downward from a floor of a vehicle body and an air suspension device configured to adjust a vehicle body height. Upon determining that the obstruction that is detected by the LiDAR device or the camera is likely to come into contact with the battery, a control unit controls the air suspension device and also controls MGs or a brake device to adjust a minimum ground clearance and an attitude of the vehicle body.