A system includes a processor and a memory storing instructions which when executed by the processor configure the processor to receive data from a plurality of sensors in a vehicle, the sensors including a Global Navigation Satellite System receiver, accelerometers, gyroscopes, and magnetometers; and to determine a location of the vehicle and a direction of motion of the vehicle based on the data and a history of locations of the vehicle in prior N seconds, where N is a number greater than 0. The instructions configure the processor to determine a permitted driving direction for the vehicle based on the location of the vehicle and a map database; and to detect whether the vehicle is moving in a wrong direction based on the permitted driving direction and the direction of motion of the vehicle.

An object is to provide a technique allowing reduction in the occurrence of a traffic jam to be caused by autonomous driving by an autonomous driving vehicle. A traveling plan preparation apparatus includes a traveling plan preparation unit that prepares an autonomous driving traveling plan on the basis of traveling cost including convenience cost. The traveling plan preparation unit increases the convenience cost as a congestion level becomes higher, and performs at least one of a process of increasing the convenience cost with a smaller margin of time and a process of reducing the convenience cost with greater closeness of a road to a pick-up position.

A vehicle congestion determination device includes: an acquisition unit configured to acquire a first information indicating an occurrence of traffic congestion based on a first threshold value and a second information indicating the occurrence of traffic congestion based on a second threshold value as an allowable condition for starting an autonomous driving operation during the traffic congestion; and a control unit configured to integrate the first information and the second information and execute a first algorithm for determining the occurrence of the traffic congestion based on the first threshold value and a second algorithm for determining the occurrence of the traffic congestion based on the second threshold value.

A driverless vehicle system comprises a processor that is configured to communicate information related to attributes of a focus autonomous vehicle (FAV) to an other peer vehicle (PV) and/or a central repository system (CRS). The processor is further configured to communicate information about a corrective action by at least one of the FAV and a previously contacted vehicle to the CRS or to a further peer vehicle that is within a predefined region.

A vehicle configured to operate in an autonomous mode can obtain sensor data from one or more sensors observing one or more aspects of an environment of the vehicle. At least one aspect of the environment of the vehicle that is not observed by the one or more sensors could be inferred based on the sensor data. The vehicle could be controlled in the autonomous mode based on the at least one inferred aspect of the environment of the vehicle.

A method for planning a vehicle diagnosis in a vehicle includes: estimation of an operating characteristic of the vehicle on a route to be traveled by the vehicle; and planning of the vehicle diagnosis based on a probability that the estimated operating characteristic of the vehicle will correspond to an operating characteristic suitable for the vehicle diagnosis.

A method for autonomous operation of a vehicle on a driving route ahead permits autonomous operation of the vehicle is only permitted if one or a group of conditions is/are fulfilled for a predetermined route length of the driving route ahead. The conditions include: there is a structural separation on at least one side of a current travel path of the vehicle; a driving lane of the vehicle has a minimum lane width; there are no humps and dips substantially limiting the range of environmental detection sensors; the number of driving lanes does not change; there are no tunnels; there are no buildings on the travel path; there are no motorway junctions; a radius of curvature of the driving lane of the vehicle is larger than a predetermined limit value; there are no traffic disruptions; there are no traffic reports about dangerous situations; and there are no traffic reports about the presence of roadworks.

A device and method for safety stoppage of an autonomous road vehicle having a localization system and sensors for monitoring the vehicle surroundings and motion, and a signal processing system for processing sensor signals enabling an autonomous drive mode. A processor continuously predicts where a drivable space exists, calculates and stores a safe trajectory to a stop within the drivable space, determines a current traffic situation, and determines any disturbances in sensor data, vehicle systems or components enabling the autonomous drive mode. If an incapacitating disturbance is determined, a request for a driver to take control is signaled and it is determined if the driver has assumed control. If not, the vehicle is controlled to follow the most recent safe trajectory to a stop in a safe stoppage maneuver during which, or after, one or more risk mitigation actions adapted to the determined current traffic situation are performed.

A handover notification arrangement is configured to provide a handover notification in a driver environment of a vehicle having autonomous driving capabilities. The handover notification arrangement includes a road information arrangement configured to acquire road information representative of an upcoming road section at which the autonomous driving is likely to become at least partially disabled. The handover notification arrangement further includes a processing unit configured to calculate an estimated time available for autonomous driving and configured to calculate an uncertainty estimate of the estimated time available for autonomous driving. The handover notification arrangement is configured to cause the output unit to provide the handover notification such that the handover notification is provided earlier in cases of high uncertainty estimates than in cases of low uncertainty estimates. The present disclosure also describes a vehicle and a method of providing a handover notification.

A method for operating a vehicle, the vehicle being guided in fully automated fashion, and if an error is detected during the fully automated guidance, a safe state being selected from a plurality of safe states as a function of one parameter, the vehicle being guided in fully automated fashion into the selected safe state. Also described is an apparatus for operating a vehicle, as well as to a computer program.