This disclosure relates to method and system for detecting and compensating for mechanical fault in autonomous ground vehicle (AGV). For each of a set of trajectory plan segments along a base path during real-time navigation of the AGV, the method may include receiving a plurality of vehicle displacement parameters along a given trajectory plan segment. and determining an optimal velocity twist of the AGV in the given trajectory plan segment using an artificial intelligence (AI) model, based on the plurality of vehicle displacement parameters and a weight of the AGV. The method may further include determining the mechanical fault in the AGV based on a comparison of an actual velocity twist of the AGV in the given trajectory plan segment and the optimal velocity twist of the AGV in the given trajectory plan segment for each of the set of trajectory plan segments.

A traveling control apparatus of vehicle includes a lane change controller, a position detector, and a lane detector. The lane change controller includes first and second course generators that respectively generate first and second courses as target courses of a vehicle in first and second lanes. The first and the second course generators respectively calculate first and second target movement amounts, in width directions of the first and the second lanes, of the vehicle when the vehicle is moved along the first and the second courses, and respectively generate the first and the second courses on a basis of the first and the second target movement amounts and first and second jerks. The first and the second jerks are each a rate of change of acceleration of the vehicle in the width direction of the first lane in the first course or the second lane in the second course.

A traveling control apparatus of vehicle includes a lane change controller, a position detector, and a lane detector. The lane change controller includes first and second course generators that respectively generate first and second courses as target courses of a vehicle in first and second lanes. The first and the second course generators respectively calculate first and second target movement amounts, in width directions of the first and the second lanes, of the vehicle when the vehicle is moved along the first and the second courses, and respectively generate the first and the second courses on a basis of the first and the second target movement amounts and first and second jerks. The first and the second jerks are each a rate of change of acceleration of the vehicle in the width direction of the first lane in the first course or the second lane in the second course.

According to an embodiment of the present disclosure, a safety equipment controlling apparatus of a vehicle may include an acceleration sensor, a collision detection sensor, a brake controller, a steering controller, an airbag, a seat belt actuator, and a control circuit electrically connected to the acceleration sensor, the collision detection sensor, the brake controller, the steering controller, the airbag, and the seat belt actuator. The control circuit may be configured to obtain a longitudinal acceleration and a lateral acceleration, which are generated by a brake of the brake controller and a steering of the steering controller, using the acceleration sensor and to calculate a predicted behavior of a user of the vehicle, based on the longitudinal acceleration and the lateral acceleration.

According to an embodiment of the present disclosure, a safety equipment controlling apparatus of a vehicle may include an acceleration sensor, a collision detection sensor, a brake controller, a steering controller, an airbag, a seat belt actuator, and a control circuit electrically connected to the acceleration sensor, the collision detection sensor, the brake controller, the steering controller, the airbag, and the seat belt actuator. The control circuit may be configured to obtain a longitudinal acceleration and a lateral acceleration, which are generated by a brake of the brake controller and a steering of the steering controller, using the acceleration sensor and to calculate a predicted behavior of a user of the vehicle, based on the longitudinal acceleration and the lateral acceleration.

A method of determining a target lateral acceleration of a vehicle for use in autonomous control of the vehicle to drive along a road, comprising: evaluating each of a plurality of scalar velocity functions at a plurality of key lateral positions predefined with respect to a model of the road to generate a respective set of scalar velocity values; combining the velocity values calculated for each key lateral position to generate a respective target lateral velocity value, the velocity values calculated for each of the key lateral positions being combined by adding the greatest of zero and the velocity values, to the smallest of zero and the velocity values; generating a lateral velocity field by interpolating between the target lateral velocity values; and determining the target lateral acceleration of the vehicle using the lateral velocity field and a measured lateral velocity of the vehicle.

A method of determining a target lateral acceleration of a vehicle for use in autonomous control of the vehicle to drive along a road, comprising: evaluating each of a plurality of scalar velocity functions at a plurality of key lateral positions predefined with respect to a model of the road to generate a respective set of scalar velocity values; combining the velocity values calculated for each key lateral position to generate a respective target lateral velocity value, the velocity values calculated for each of the key lateral positions being combined by adding the greatest of zero and the velocity values, to the smallest of zero and the velocity values; generating a lateral velocity field by interpolating between the target lateral velocity values; and determining the target lateral acceleration of the vehicle using the lateral velocity field and a measured lateral velocity of the vehicle.

The vehicle control apparatus comprises a sensor to detect a turning movement physical quantity, an acceleration-deceleration device, a control unit, and a device to obtain road shape information representing a shape of a road at a position that is away from a vehicle by a predetermined distance. The unit determines that a first control start condition becomes satisfied when a magnitude of the physical quantity exceeds a first value while the curved road has not been determined to be present based on the road shape information, to perform an acceleration-deceleration control for making the vehicle run at a target speed depending on a curvature of the road. The unit determines that a second control start condition becomes satisfied when the magnitude of the physical quantity exceeds a second value smaller than the first value while the curved road has been determined to be present to perform the acceleration-deceleration control.

A vehicle driving support device issues an alert to notify a driver of a vehicle that there is a possibility of occurrence of a situation in which the vehicle is not able to travel along a lane. The vehicle driving support device issues an alert when an alert condition that a rate of increase in a lateral acceleration of the vehicle is equal to or larger than a predetermined rate of increase is satisfied.

A vehicle driving support device issues an alert to notify a driver of a vehicle that there is a possibility of occurrence of a situation in which the vehicle is not able to travel along a lane. The vehicle driving support device issues an alert when an alert condition that a rate of increase in a lateral acceleration of the vehicle is equal to or larger than a predetermined rate of increase is satisfied.