An autonomous driving system having an autonomous driving assistance apparatus includes: a gateway unit wirelessly communicating with a router among a plurality of routers installed in an autonomous driving road; a signal processing unit providing identification information of a vehicle at the time of setting a wireless communication link with each router and providing driving path information of the vehicle to the router every set cycle; a path tracking unit determining a speed, a progress direction, and a steering angle of the vehicle included in the driving path information so as to drive the vehicle based on driving path information; a speed control unit controlling a speed of the vehicle based on the speed determined by the path tracking unit; and a steering angle control unit controlling a steering angle of the vehicle based on the progress direction and steering angle determined by the path tracking unit.

A vehicle control device (100) including a recognition unit (130) that that is configured to recognize a peripheral situation of a vehicle and a driving control unit (140, 166) that that is configured to control at least steering of the vehicle on the basis of a result of recognition acquired by the recognition unit, and, in a case in which the recognition unit is configured to recognize a road surface inclination area in which a gradient toward a lower side in a vertical direction is formed from a flat part of the road toward a road end, which is disposed at the road end of an advancement direction of the vehicle, and the vehicle is running on the road surface inclination area, the driving control unit is configured to adjust a steering angle of the vehicle in a direction in which the vehicle is away from the road end on a side on which the road surface inclination area is present.

A roll and brake test system and a method of controlling the same are disclosed. The roll and brake test system can automatically test a steering device, an accelerator, a transmission, and a brake of a vehicle. The roll and brake test system includes: a roll and brake apparatus for accommodating a vehicle on a roll; a management apparatus for controlling the roll and brake apparatus and for generating test information for testing the vehicle; and a control apparatus for controlling the vehicle according to the test information from the management apparatus.

A travel control apparatus includes: a transformation unit configured to project the lane and object on a lane coordinate system in which a center line of the lane is a first coordinate axis and an axis orthogonal to the first coordinate axis is a second coordinate axis by performing a coordinate transformation based on the shape of the lane and the position of the object in a plane coordinate system; an area calculation unit configured to calculate a travelable area in which the vehicle can travel in the lane coordinate system; a travel trajectory generation unit configured to perform an inverse transformation of the coordinate transformation by the transformation unit based on the travelable area, and to generate a travel trajectory of the vehicle in the plane coordinate system; and a control unit configured to perform a steering control on the vehicle.

A vehicle control apparatus includes a contact detector, an attitude stabilization processor, and a steering intention determining unit. The contact detector is configured to detect a contact of a vehicle with an object. The attitude stabilization processor is configured to execute an attitude stabilization control that generates a yaw moment at a vehicle body on the basis of a deviation between a target yaw rate and an actual yaw rate. The steering intention determining unit is configured to determine a presence of a driver's intention to perform steering. The attitude stabilization processor is configured to stop the generation of the yaw moment by the attitude stabilization control or reduce the yaw moment to be generated by the attitude stabilization control, in a case where the steering intention determining unit determines that the driver's intention to perform the steering is absent after the detection of the contact by the contact detector.

In one embodiment, a system determines a target lane for an autonomous driving vehicle (ADV) to change lanes from a current lane to the target lane. The system determines obstacles information for one or more obstacles surrounding the ADV from sensor data. The system determines vehicle information of the ADV including a speed of the ADV. The system applies a reinforcement learning (RL) model to the obstacles and vehicle information of the ADV to generate an action for the ADV, where the action includes an acceleration/deceleration value and a steering angle value. The system controls the ADV to perform the lane change from the current lane to the target lane by executing the action.

A computer includes a processor and a memory, and the memory stores instructions executable by the processor to represent a vehicle as a vehicle boundary; represent an object as an object polygon including object vertices and object sides; determine a turning center of a turning radius of the vehicle; select the object vertices projected to intersect the vehicle boundary; for the selected object vertices, determine respective object central angles with respect to the turning center between the respective object vertex and an object intersection with the vehicle boundary; select a smallest central angle from a set including the object central angles; and actuate a component of the vehicle based on the smallest central angle.

A vehicle includes a vehicle engine, a steering control unit, an on-board sensor network and a navigational constraint control system. The vehicle engine generates a torque output of the vehicle. The steering control unit controls a steering angle of the vehicle. The on-board sensor network is programmed to detect external objects within a detection zone. The navigational constraint control system has a memory for storing a path index for the vehicle's navigation. The processor is programmed to determine a reference trajectory from the path index. The processor is further programmed to calculate navigational constraints for the determined reference trajectory to determine a nominal trajectory based on information detected by the on-board sensor network. The processor is programmed to control at least one of the vehicle engine and the steering control unit in accordance with the nominal trajectory.

A traveling control apparatus that allows lane changing due to a driver's steering intervention while continuing lane maintenance control includes an electronic control unit. The electronic control unit sets a target trace along a lane in which a vehicle is traveling, determines a target steering angle of the vehicle based on the target trace and a lateral position of the vehicle, applies control torque to a steering shaft of the vehicle based on the target steering angle, resets, in response to a change in the lateral position due to the driver's steering intervention which exceeds the control torque and entrance of the vehicle into an adjacent lane, the target trace to the adjacent lane, and determines, using a gradual changing function, in response to the resetting of the target trace, the target steering angle by changing the target steering angle at the time of the resetting.

A traction application executing on a vehicle control module receives a traction speed control input to control a traction wheel of the vehicle. Based on the traction speed control input, the traction application determines a first setpoint value of a control attribute related to the traction wheel. A first diagnostic supervisor receives a measured value of the control attribute related to the traction wheel, and the first setpoint value from the traction application. The first diagnostic supervisor comprises a first model of a traction system of the vehicle. Based on the first setpoint value and the first model, the first diagnostic supervisor calculates a first virtual value of the control attribute related to the traction wheel. Based on the first virtual value and the measured value of the control attribute, the first diagnostic supervisor determines a first operating condition of the traction system of the vehicle.