A computer-implemented method for controlling a vehicle system of a host vehicle merging with one or more remote vehicles, including receiving speed data transmitted from the one or more remote vehicles via a vehicular communication network and receiving position data of the one or more remote vehicles from the sensor system of the host vehicle that monitors an area around the host vehicle. Upon determining the one or more remote vehicles are in the area around the host vehicle based on the position data, determining a safe distance for merging into the lane based on a relative position of the host vehicle to the one or more remote vehicles. Further, controlling the vehicle system of the host vehicle according to an actual distance between the host vehicle and the one or more remote vehicles and the safe distance.

A method for determining a reference control profile for a vehicle, including determining (A1) a plurality of control profiles for the vehicle (1) based on topographic information for one and the same future route segment and selecting (A2) one of the plurality of control profiles as a reference control profile, the selection (A2) being based on a tradeoff criterion considering resource consumption and drivability of the plurality of control profiles. The disclosure also relates to a control arrangement (2) for determining a reference control profile for a vehicle (1) and a vehicle comprising the control arrangement (2).

A method for controlling braking of an autonomous vehicle includes: recognizing, by a driving situation recognizer, a vehicle stop situation based on environment information around the vehicle; generating, by a deceleration profile generator, a n.sup.th-order polynomial-based deceleration profile having a plurality of inflection points (n being a natural number equal to or greater than three) when the vehicle stop situation is recognized; correcting, by a corrector, the n.sup.th-order polynomial-based deceleration profile by setting at least one of a response time of a decelerator, a mass of the vehicle during driving or a deceleration performance of a brake to a control variable; and executing, by a controller, braking of the vehicle based on the corrected n.sup.th-order polynomial-based deceleration profile.

A method is presented, which comprises: obtaining or holding available at least one speed profile for at least one selected link of a travel network, wherein said at least one speed profile represents a plurality of speeds for a plurality of subsequent segments of said selected link; smoothing said at least one speed profile for said at least one selected link in a first smoothing step by: determining whether said at least one speed profile represents one or more speeds that are associated with an acceleration above a predetermined acceleration threshold or a deceleration below a predetermined deceleration threshold; for each speed that is determined to be associated with an acceleration above said acceleration threshold or a deceleration below said deceleration threshold, determining a respective adapted speed for replacing said respective speed at least partially based on speeds for one or more adjacent segments of said respective segment.

Further presented are inter-alia corresponding apparatuses, a corresponding system and a corresponding computer program code.

Aspects of the present invention relate to an automatic speed control system, a method (200) for automatically controlling the speed of a vehicle, and a vehicle comprising the system or for carrying out the method. The system and method obtains (202) an initial speed limit, wherein the initial speed limit is the speed limit at a location of the vehicle, receives (204) a signal identifying a speed limit offset; and sets (206) the speed of the vehicle to the initial speed limit combined with the offset. The system and method may obtain (208) an updated speed limit and set (210) the speed of the vehicle to the updated speed limit. The system and method may obtain (212) a further speed limit; and if at least one criterion is met (214), set (216) the speed of the vehicle to the further speed limit combined with the offset.

A method for controlling a vehicle includes automatically controlling vehicle brakes to decelerate the vehicle at a braking deceleration rate in response to an anticipated stop at a traffic signal and an adaptive cruise control system being active. The method further includes, in response to the vehicle decelerating to an intermediate speed, releasing the vehicle brakes. The intermediate speed is determined such that, at the intermediate speed, a coasting distance to a full stop is approximately equal to a distance to the traffic signal.

Autonomous control of a subject vehicle including a longitudinal motion control system includes determining states of parameters associated with a trajectory for the subject vehicle and parameters associated with a control reference determined for the subject vehicle. A range control routine is executed to determine a first parameter associated with a range control command based upon the states of the plurality of parameters, and a speed control routine is executed to determine a second parameter associated with a speed control command based upon the states of the plurality of parameters. An arbitration routine is executed to evaluate the range control command and the speed control command, and operation of the subject vehicle is controlled to achieve a desired longitudinal state, wherein the desired longitudinal state is associated with a minimum of the range control command and the speed control command.

An end point speed at an end point of inertial travel that a vehicle is controlled to perform in a short section l.sub.i is calculated using a weight, a start point speed, slopes, and a horizontal distance, based on a change in energy of the vehicle or an acceleration of the vehicle in the short section. In a case where the calculated end point speed is within a speed range, the vehicle is controlled to perform inertial travel in the short section. In this way, the speed of the vehicle in a case where the vehicle is controlled to perform inertial travel can be accurately calculated and the vehicle can be prevented from deviating from a set speed range at an early stage even when controlled to perform inertial travel, thereby increasing the distance traveled by inertial travel and effectively increasing fuel economy.

A method ensures that a vehicle can safely pass a traffic light. The vehicle includes a processor and a light sensor. The method includes receiving traffic data, establishing a speed profile, establishing a control distance, the processor establishing, in accordance with the speed profile, a control distance at which braking ensures that the vehicle stops safely before the position of the traffic light, adjustment according to the speed profile, detecting the state of the traffic light when the vehicle is at the control distance from the traffic light, and the processor activating braking if the traffic light is red.

A vehicle control system includes: an automated driving controller configured to execute automated driving which autonomously controls at least one of speed control and steering control to allow a vehicle to travel along a route to a destination; and a factor acquisition section configured to acquire a factor which is independent of travel requirements for the vehicle to travel by autonomously driving along the route to the destination. The automated driving controller changes the plan of the automated driving based on the factor acquired by the factor acquisition section.