A method for the self-check of at least one driving function of an autonomous or semi-autonomous vehicle in vehicle operation, after an error message about the at least one driving function, in which in one step, at least one vehicle electronic system and/or at least one sensor is/are restarted, a check is made for a further appearance of the error message after each restart, and in the event an error message is not repeated after the restart, the driving function in question is checked during operation of the autonomous or semi-autonomous vehicle.

Disclosed herein is a method for processing a picture of an automatic driving vehicle. The method for processing a picture of an automatic driving vehicle according to an embodiment of the present disclosure includes obtaining a first image from a camera while a vehicle on which the camera is driving, generating a prediction signal for predicting a sign of occurrence of White-Out from the first image, when a quantity of light which is a threshold brightness or higher from the first image, storing the first image during a first period when the prediction signal is generated, and predicting and correcting a second image based on the first image stored during the first period and a correction model, when the second image in which the White-Out occurs in the first image is detected on a specific time during the first period, and the correction model is a result of learning the second image by processing high dynamic range (HDR) image. At least one of the automatic driving vehicle according to the present disclosure, a user terminal and a server may be linked with artificial intelligence, robot, Augmented Reality (AR), virtual reality (VR), and the like.

The present disclosure provides a system and method for driving mode switching in autonomous driving. The method may include obtaining status information of a vehicle system, the status information including a current driving mode of the vehicle system; obtaining at least one mode switching condition, each of the at least one mode switching condition corresponding to a candidate driving mode that triggers switching the vehicle system from the current driving mode to the candidate driving mode; determining that the status information of the vehicle system satisfies one of the at least one mode switching condition; designating a candidate driving mode corresponding to the one of the at least one mode switching condition as a target driving mode; switching the current driving mode into the target driving mode.

Proposed is a method of managing an error of a control unit for a vehicle, the method including: collecting an error; converting the collected error into a database in a form required for a diagnosis and debugging; and performing a recovery mechanism by interworking a platform health management cluster (PHM), a statement management cluster (SM), and an execution management cluster (EM), in which the collecting of the error includes: collecting a user error occurring in an application for a vehicle; collecting a platform error occurring in at least one of the platform health management cluster (PHM), the statement management cluster (SM), and the execution management cluster (EM); or collecting an integrated error according to whether a network management cluster (NM), a time synchronization cluster (TS), and a persistency cluster (PER) are normally operated.

A control apparatus for a hybrid electric vehicle including an engine, a starter and an electric motor that is connected to an electric storage device through a relay. The control apparatus executes an engine start control to crank and start the engine by using a selected one of the starter and the electric motor. The control apparatus detects presence or absence of failure of the electric motor, when executing the engine start control by using the electric motor with the relay being closed. When detecting the failure of the electric motor, the control apparatus causes the relay to be opened, and to suspend execution of the engine start control by using the electric motor, and is configured, when start of the engine is requested next, to execute the engine start control by using the starter while keeping the relay to be opened.

Aspects of the disclosure relate to controlling a vehicle in an autonomous driving mode using trajectories. For instance, a trajectory may be received by one or more first computing devices from one or more second computing devices. While the first computing devices are controlling the vehicle in the autonomous driving mode based on the trajectory, an error may be generated by second computing devices. Whether the error is a recoverable error may be determined, and if so, the second computing devices attempt to generate a new trajectory. When the second computing devices generate the new trajectory, the vehicle may be controlled by the first computing devices according to the new trajectory.

According to one embodiment, a first autonomous driving system (e.g., main system) is configured to perform a planning and control operation on an ADV, including perceiving a driving environment surrounding the ADV and planning a trajectory to drive the ADV. A second autonomous driving system (e.g., a backup system) operates as a redundant driving system to monitor a first operating status of the first autonomous driving system. The first autonomous driving system further monitors a second operating status of the second autonomous driving system. A safety action is performed to transition the ADV into a safer state based on the monitored operating status of the first and second autonomous driving systems.

Localization error handling using output is described. A computing system associated with a vehicle can receive sensor data from a sensor associated with vehicle. The computing system can determine, based at least partly on the sensor data, a first instruction for controlling the vehicle during a first period of time and a difference in pose information associated with a pose of the vehicle. Based at least partly on determining the difference, the computing system can retrieve a second instruction for controlling the vehicle during a second period of time prior to the first period of time and, based at least partly on comparing the first instruction and the second instruction, the computing system can determine whether the vehicle is to follow the first instruction or perform an alternate operation.

An in-vehicle backup control apparatus includes a discharge circuit that discharges a power storage unit and a control unit that controls the discharge circuit. The control unit sets either one of a superimposable voltage or a supply completion voltage as an interruption threshold value, the superimposable voltage being set as a voltage condition of the power storage unit when electric power is supplied simultaneously to a plurality of target loads during an abnormal state, and the supply completion voltage being set in association with one of the plurality of target loads. The control unit interrupts or delays the supply of electric power to the one of the plurality of target loads to prohibit the plurality of target loads from simultaneously operating if a charge voltage of the power storage unit reaches a value less than or equal to the interruption threshold value during the abnormal state.

The present disclosure is directed to checking and updating the calibration of a sensing apparatus at an autonomous vehicle (AV). After a sensing apparatus of an AV has been initially calibrated (e.g., when the AV is manufactured) calibration of that sensing apparatus may be checked or updated using data collected from similar vehicles of a fleet of vehicles. Each of the different vehicles of this fleet may identity its location and report that location. A first of these vehicles may receive data that identifies the location of a second vehicle. A sensing apparatus of the first vehicle may then identify locations of features at the second vehicle and a processor of the sensing apparatus may perform calculations to identify whether calibration of the sensing apparatus has changed. Parameters that adjust the calibration of the sensing apparatus may then be updated to maintain calibration of a sensing apparatus within acceptable tolerances.