This application relates to a vehicle control system, a vehicle control method, and a storage medium. The vehicle control system includes: a planning layer in which a service is configured to generate an operation instruction according to a driving task; a reference layer in which a service is configured to generate a target parameter according to the operation instruction, the target parameter reflecting a requirement for state control of a vehicle; an advanced control layer in which a service is configured to generate an execution parameter according to the target parameter, the execution parameter reflecting an execution capability of a vehicle executor for the requirement for state control; an allocation control layer in which a service is configured to allocate category task parameters to category executors according to the execution parameter; and an underlying control layer in which a service is configured to provide the category task parameter for at least one of the category executors. The vehicle control system can shield underlying hardware and provide a comprehensive service combination, so as to implement more rational control.

The present application relates to a method and apparatus including a sensor for detecting a first vehicle speed, a camera operative to capture an image, a processor operative to determine a road curvature in response to the image, the processor further operative to determine a first predicted lateral acceleration in response to the road curvature and the first vehicle speed, the processor further operative to determine a second vehicle speed in response to the first predicted lateral acceleration exceeding a threshold value wherein the second vehicle speed results in a second predicted lateral acceleration being less than the threshold value, and to generate a control signal indicative of the second vehicle speed, and a vehicle controller operative to reduce a vehicle velocity to the second vehicle speed in response to the control signal.

A number of illustrative variations may include a method or product for alerting or refocusing an inattentive driver.

A method for updating a localization of an autonomous vehicle includes receiving perception input data from a sensor of the autonomous vehicle and receiving map data including road lane information in a vicinity of the autonomous vehicle. The method includes processing the perception input data to extract perceived road lane information including a perceived x position, a perceived y position, a perceived z position, a perceived lane type, a perceived lane color, and a perceived lane curvature and processing the map data to extract map road lane information including a map x position, a map y position, a map z position, a map lane type, a map lane color, and a map lane curvature. The method includes calculating a transformation matrix from the perceived road lane information and the map road lane information and updating the map data and a localization of the vehicle based on the transformation matrix.

Systems and methods for controlling an autonomous vehicle are described. A trajectory planner module provides a first trajectory to a trajectory control module. The trajectory control module determines parameters of the first trajectory. The trajectory control module compares the parameters to a respective threshold value. The trajectory control module obtains one or more alternative trajectories, determines parameters of each alternative trajectory, and compares the parameters of the alternative trajectory to a respective threshold value. The trajectory control module selects a trajectory for controlling the autonomous vehicle that has parameters which are within a range defined by the threshold values and controls the autonomous vehicle based on the selected trajectory. Thus, before handing back control to a driver, the trajectory control module selects from alternate trajectories for controlling the autonomous vehicle.

A vehicle includes an engine, an accelerator pedal, and a controller. The controller is programmed to command torque to the engine based on a set speed of adaptive cruise control and is programmed to, in response to the adaptive cruise control being active, a measured lateral acceleration of the vehicle exceeding a user-defined lateral acceleration threshold during a road curve, and the accelerator pedal being released, reduce a speed of the vehicle below the set speed until the measured lateral acceleration is less than the lateral acceleration threshold.

A travel control apparatus is configured to control a travel of a vehicle so as to travel along a target path. The travel control apparatus is configured to perform: acquiring a change schedule information of a traffic light installed over each of a plurality of merge lanes that merge with a main line and configured to be able to change an indication form between a first indication form permitting the vehicle to merge with the main line and a second indication form instructing the vehicle to stop before a stop line; determining a merge lane on which the vehicle travels among the plurality of merge lanes, based on the change schedule information of a traffic light located in a travel direction of the vehicle; and generating a target path of the vehicle leading to the stop line of the merge lane.

Among other things, techniques are described for screening and monitoring the health of a vehicle user including receiving sensor data produced by a sensor at the vehicle, processing the sensor data to determine at least one health condition of the user of the vehicle, and in response to determining the at least one health condition, executing a vehicle function selected from a plurality of vehicle functions based on the at least one health condition.

Systems and methods are described for performing one or more validity checks on potential trajectories for a device, such as an autonomous vehicle, to navigate. In some examples, a potential trajectory may be validated based on whether it is consistent with a current trajectory the vehicle is navigating such that the potential and current trajectories are not too different, whether the vehicle can feasibly or kinematically navigate to the potential trajectory from a current state, whether the potential trajectory was punctual or received within a time period of a prior trajectory, and/or whether the potential trajectory passes a staleness check, such that it was created within a certain time period. In some examples, determining whether a potential trajectory is feasibly may include updating a set of feasibility limits based on one or more operational characteristics of statuses of subsystems of the vehicle.

An automotive electronic preventive active safety system comprising a control module configured to receive data indicative of a current position of a vehicle, of roads and characteristics thereof including road curvature, and of potential driving routes of the motor-vehicle from a current position up to an electronic horizon thereof. If a current speed of the vehicle at the current position is greater than or equal to a driving speed determined by a driving speed profile for the current position, the control module is configured to at least one of: command the motor-vehicle to decelerate to the driving speed determined by the driving speed profile for the current position; and generate a request to a driver of the motor-vehicle to decelerate the motor-vehicle to the driving speed determined by the driving speed profile for the current position.