A method for controlling a vehicle based on a driver-centric model is presented. The method includes generating a trajectory for the vehicle and receiving an input from a driver. The method also includes generating a velocity profile and an acceleration profile based on a combination of the trajectory and the input. The method further includes controlling the vehicle based on the velocity profile and the acceleration profile.

Provided are a vehicle driving control method and apparatus. The method includes: determining, according to driving data of a vehicle, at least one piece of candidate speed information of the vehicle, the candidate speed information is used to indicate traveling speed of the vehicle at each moment in a first preset time period; predicting, according to movement data of an obstacle on a road, an obstacle trajectory of the obstacle in the first preset time period; determining right-of-way information corresponding to the obstacle trajectory, the right-of-way information is used to indicate a priority in traveling of the vehicle and the obstacle; and determining target speed information in the at least one piece of candidate speed information according to the right-of-way information corresponding to the obstacle trajectory and the obstacle trajectory, and controlling the vehicle to travel according to a route corresponding to the vehicle and the target speed information.

A driving control device mounted on a vehicle includes a processor. The processor is configured to create a speed profile. The processor is configured to approximate the speed profile by a predetermined approximate model and estimate a predicted amount of regenerative energy based on an approximation result. The processor is configured to set, based on the predicted amount of regenerative energy, a first region and a second region in the approximation result as a region in which the vehicle travels using an electric motor, the first region being a region from a timing of starting of the vehicle until first time has elapsed from the timing of starting of the vehicle, and the second region being a region from a timing of deceleration of the vehicle until second time has elapsed from the timing of deceleration of the vehicle.

A method and an apparatus for planning a speed of an autonomous vehicle, and a storage medium are provided. The method includes: generating a plurality of speed trajectories to be selected for the autonomous vehicle before the autonomous vehicle changes a lane; obtaining predicted speeds and predicted positions of an obstacle at the plurality of time points; calculating a cost function value of each of the speed trajectories to be selected, according to the plurality of speed trajectories to be selected, the predicted speeds and the predicted positions; and selecting a speed trajectory to be selected with a minimum cost function value as a planning speed trajectory of the autonomous vehicle. A speed of the autonomous vehicle can be adjusted before the autonomous vehicle changes a lane, thereby creating an opportunity and a safe distance for the lane change, and improving a success rate of the lane change.

The invention is a method for determining a speed profile for minimizing emissions of at least one pollutant generated by a vehicle during a journey. The method requires a model of the vehicle dynamics, an analytical model of the emissions of the pollutant, and at least one speed profile model divided into at least two phases, each of the phases corresponding to a traction acceleration mode of the vehicle with a number of acceleration modes preferably being five. Then, a speed profile minimizing the emissions of at least one pollutant is determined by seeking, from speed profiles with respect to the distance, duration, and initial and final speeds of the journey and distinguished by distinct phase durations with the speed profile for which the emissions of the pollutant are modelled is by use of an analytical model for which the pollutants are the lowest.

A method for controlling vehicle energy consumption includes identifying, using a cumulative net energy consumption of a vehicle traversing a route, one or more route segments of the route being traversed by the vehicle. The method also includes determining, for each route segment of the one or more route segments, a vehicle energy consumption profile and determining, for each of the one or more route segments, a profile for a target vehicle speed based on at least one route characteristic and a corresponding vehicle energy consumption profile. The method also includes, for a respective route segment of the one or more route segments generating one or more torque commands based on at least the target vehicle speed profile corresponding to the respective route segment, and selectively controlling, using the one or more torque commands, vehicle propulsion of the vehicle to achieve the target vehicle speed profile.

An autonomous driving system includes an electronic control unit configured to generate, based on a target route, a target path in a predetermined coordinate system and a speed plan specifying a passage time at a control point on the target path, and rebuild, based on an actual speed of a vehicle, the speed plan when an operation intervention is performed during autonomous driving performed by autonomous driving control for causing the vehicle to travel along the target path according to the speed plan, the operation intervention changing a braking force acting on the vehicle, and perform the autonomous driving control by using an actuator mounted on the vehicle.

A device for controlling travel of a vehicle includes: a sensor that acquires information on a surrounding region of the vehicle, and a controller that generates a speed profile based on the information on the surrounding region of the vehicle, calculates an average acceleration in the speed profile based on a current vehicle speed and a vehicle speed at a predetermined time point, and calculates a required acceleration at a time point at which a difference between the speed profile and the average acceleration is greatest, and performs travel control based on at least one of the average acceleration or the required acceleration. The device allows a longitudinal control to be performed based on the speed profile generated by the vehicle, thereby improving an accuracy of autonomous driving.

Generally, the present disclosure is directed to systems and methods that include or otherwise leverage an iterative solver as part of optimizing a motion plan for an autonomous vehicle (AV). In particular, a scenario generator within a motion planning system can include a warm start generator configured to determine an initial trajectory that respects the dynamics of the autonomous vehicle and that closely tracks a speed profile determined by a constraint solver and one or more nominal paths determined by a route selector. A decision validator can analyze speed profiles and nominal paths to identify potential inconsistencies and validate a decision before optimization and execution. An initial trajectory can be further optimized by an iterative solver to determine an optimized trajectory for execution as a motion plan for the autonomous vehicle.

Ambient conditions in which a marine vessel is to travel along a path are determined. Power settings for the marine vessel to travel along the path are determined based on the ambient conditions to direct the marine vessel to travel along a planned trajectory toward a designated location. Movement of the marine vessel is monitored while using the power settings and a discrepancy between movement of the marine vessel and the planned trajectory is identified. The power settings are automatically modified based on the discrepancy. Movement of the marine vessel then controlled according to the modified power settings.