A system for assisting in aligning a vehicle for hitching with a trailer includes a vehicle steering system, a wireless communication module, a detection system outputting a signal including scene data of an area to a rear of the vehicle, and a controller. The controller receives, via the wireless communication module, an automated hitching initiation command from an external wireless device, receives the scene data and identifying the trailer within the area to the rear of the vehicle, derives a backing path to align a hitch ball mounted on the vehicle to a coupler of the trailer, and controls the vehicle steering system to maneuver the vehicle including reversing along the backing path.

Systems and methods to augment audio output in an electric vehicle (EV) include obtaining inputs from one or more sensors. The inputs include information about the EV and about one or more persons outside the EV. A current scenario is defined based on the inputs. Whether the current scenario matches a predefined scenario among a set of predefined scenarios is determined, and augmented audio output is produced according to the predefined scenario.

An autonomous driving apparatus for generating an intersection path reflecting a driving record may include: a path generating device that generates information on a first path for driving of an autonomous vehicle at an intersection; a path comparison operating device that generates offset information between the generated information on the first path and information on a second path along which the autonomous vehicle is driving; a comparison operation evaluating device that determines whether to store the information on the second path based on the generated offset information; and a comparison operation storage that stores the information on the second path and the offset information based on the determination of whether to store the information on the second path.

An assistance system for a vehicle capable of automated operation has a controller having a processor and tangible, non-transitory memory on which instructions are recorded. The vehicle is located on a first lane in a vicinity of one or more neighboring vehicles, the first lane merging with a second lane at a merging trajectory location. The controller is adapted to selectively execute a leader determination module when a distance of the vehicle to the merge starting point is less than a threshold value. This includes determining an estimated arrival time of the vehicle to a merge starting point of the merging trajectory location. The controller is adapted to select a leader vehicle from the neighboring vehicles based in part on their respective estimated arrival times to the merge starting point. Operation of the vehicle is controlled based in part on the leader vehicle.

A system for determining a distance between a camera and a hitch ball of a vehicle. The system includes a camera configured to be mounted on a vehicle and an electronic processor connected to the camera. The electronic processor is configured to determine a first position and a second position associated with a point on a trailer, determine an angle of rotation between the first position and the second position, and using the first position, the second position, and the angle of rotation, determine a null space of a matrix. In one example, the matrix is

[00001]$A=\left[\begin{array}{ccccc}1& 0& 0& -{\mathrm{cu}}_{\mathrm{xo}}& {\mathrm{cl}}_x\\ 0& 1& 0& -{\mathrm{cu}}_{y0}& {\mathrm{cl}}_y\\ 0& 0& 0& {\mathrm{cu}}_{z0}& -{\mathrm{cl}}_z\\ 0& 0& 1& \frac{-{\mathrm{cu}}_{z0}}{{\mathrm{cu}}_{z1}}{\mathrm{cu}}_{x1}& {\mathrm{cl}}_x\\ -\cos \delta & \sin \delta & 1& 0& 0\end{array}\right]$

and the null space of the matrix includes a value of a distance (d.sub.l) between the camera and the hitch ball. The electronic processor is further configured to perform an autonomous or semi-autonomous vehicle operation based on the distance (d.sub.l) between the camera and the hitch ball.

A system includes a processor and a memory storing instructions executable by the processor to select a distance based on a determination of whether a lane adjacent a primary vehicle and a secondary vehicle in front of the primary vehicle is clear. The instructions include instructions to actuate a braking system of the primary vehicle when the primary vehicle is at the distance from the secondary vehicle.

A vehicle, system and method for operating the vehicle is disclose. The system includes a radar system and a processor. The radar system locates a gap between targets in a second lane adjoining a first lane, with the host vehicle residing in the first lane. The processor is configured to determine a viability value of the gap for a lane change, select the gap based on the viability value, align the host vehicle with the selected gap, and merge the host vehicle from the first lane into the selected gap in the second lane.

Behavior information input unit receives stop-behavior information about vehicle from automatic-driving control device. Image-and-sound output unit outputs inquiry information for inquiring of an occupant whether a possibility of collision between an obstacle and vehicle is to be excluded from a determination object in automatic-driving control device to notification device, when a distance from one point on a predictive movement route of the obstacle to the obstacle is greater than or equal to a first threshold, and a speed of the obstacle is less than or equal to a second threshold. Operation signal input unit receives a response signal for excluding the collision possibility from the determination object. Command output unit outputs a command to exclude the collision possibility from the determination object to automatic-driving control device.

An automatic parking system is provided. The automatic parking system includes a camera processor that acquires images around a subject vehicle, converts the acquired images into external images and synthesizes the external images. A sensor processor measured spaced distances between the subject vehicle and surrounding vehicles. A parking space recognizing unit periodically receives the spaced distances and the external images and comparing the consecutive external images with the spaced distances using an image recognition technology to recognize parking areas. A controller calculates a moving path between a current position of the subject vehicle and an optimal parking area and operates the subject vehicle based on the moving path.

Systems and methods for controlling a vehicle are described. A processor of a longitudinal planning system determines a state of the vehicle. The processor determines a state of a leader vehicle. The processor, based on the determined state of the vehicle and the determined state of the leader vehicle, determines a critical distance for the vehicle. The processor compares a distance between the vehicle and the leader vehicle with the critical distance. The processor, based on the comparison, determines whether the vehicle is too close to or too far from the leader vehicle. The processor, based on the determination, applies one or more of overshoot constraints, undershoot constraints, and critical constraints. After applying the one or more of overshoot constraints, undershoot constraints, and critical constraints, the processor determines a target acceleration for the vehicle. The processor controls the vehicle to track the target acceleration for the vehicle.