A system comprising a computer including a processor and a memory, the memory including instructions such that the processor is programmed to: determine whether a difference between a friction coefficient label and a determined friction coefficient corresponding to an image depicting a surface is greater than a label threshold; modify the determined friction coefficient to equal the friction coefficient label when the difference is greater than the label threshold; and retrain a neural network using the image and the friction coefficient label.

In a vehicle control system that controls a vehicle that performs autonomous driving, the vehicle control system includes an autonomous driving control device that generates a target trajectory for autonomous driving of the vehicle, and an vehicle travel control device that executes vehicle travel control that controls steering, acceleration, and deceleration of the vehicle such that the vehicle follows the target trajectory. The vehicle travel control device is configured to determine whether an operation request condition for washer operation for ejecting washer solution toward a windshield of the vehicle is satisfied, transmit an approval request for the washer operation to the autonomous driving control device when the operation request condition is satisfied, and execute the washer operation when approval for the approval request is received from the autonomous driving control device.

The technology employs a variable motion control envelope that enables an on-board computing system of a self-driving vehicle to estimate future vehicle driving behavior along an upcoming path, in order to maintain a desired amount of control during autonomous driving. Factors including intrinsic vehicle properties, extrinsic environmental influences and road friction information are evaluated. Such factors can be evaluated to derive an available acceleration model, which defines an envelope of maximum longitudinal and lateral accelerations for the vehicle. This model, which may identify dynamically varying acceleration limits that can be affected by road conditions and road configurations, may be used by the on-board control system (e.g., a planner module of the processing system) to control driving operations of the vehicle in an autonomous driving mode.

A vehicle control device includes a recognition unit configured to recognize a position and a surrounding situation of a vehicle, a driving control unit configured to control steering and acceleration/deceleration of the vehicle independently of an operation of a driver of the vehicle, and a mode determination unit configured to determine any one of a plurality of driving modes including a first driving mode and a second driving mode as a driving mode of the vehicle and change the driving mode of the vehicle to a driving mode in which a task is severer when a task associated with the determined driving mode is not executed by the driver, the second driving mode being a driving mode in which a task imposed on the driver is milder than that in the first driving mode. When accuracy of recognition of the position of the vehicle is lowered, the mode determination unit estimates a speed at which the vehicle travels on a road on the basis of curvature of the road in front of the vehicle and changes the driving mode of the vehicle when the estimated speed exceeds a predetermined prescribed speed.

A vehicle control device includes a recognition part, a driving control part, and an output control part. When determining there is a section where a current driving mode cannot be continued in a first lane and the vehicle changes to a second lane, the output control part outputs predetermined information, including first and second information, before reaching the section. When detecting an intention to change lanes after outputting the first information, and a lane change to the second lane is completed before outputting the second information, the driving control part continues a first driving mode executed during traveling in the first lane even after the lane change is completed, and when detecting the intention to change lanes after outputting the first information, and the lane change to the second lane is completed after outputting the second information, the driving control part changes to a driving mode imposing a larger task.

A vehicle control device includes: a first obtaining part obtaining gripping information indicating a driver of a vehicle is gripping a steering wheel; a second obtaining part obtaining operation information indicating the driver is performing a driving operation; a recognition part recognizing a road marking line of a lane traveled by the vehicle; and a support part providing a support so that the vehicle does not deviate from the road marking line when a deviation probability is greater than or equal to a predetermined degree. The support part delays an operation of the support when the gripping information is obtained and the operation information is not obtained, as compared with a case where the gripping information and the operation information are not obtained, and suppresses the operation of the support for a predetermined time when the operation information is obtained regardless of whether the gripping information is obtained.

A vehicle control apparatus executes a driving force limiting control when a mistaken operation condition is satisfied. The vehicle control apparatus determines that the mistaken operation condition is satisfied when a third condition is satisfied at a point in time when a second condition becomes satisfied, determines that the mistaken operation condition is not satisfied when the third condition is not satisfied at a point in time when the second condition becomes satisfied, the third condition becomes satisfied within a first time threshold since a first condition becomes satisfied, and a pressing condition is satisfied before the third condition becomes satisfied, and determines that the pressing condition is satisfied when an operation amount of an acceleration operator is greater than or equal to a positive second operation amount threshold, and an operation speed of the acceleration operator is greater than or equal to a positive second operation speed threshold.

Systems and methods for managing environmental conditions for an autonomous vehicle are disclosed. In one aspect, an autonomous vehicle includes a perception sensor configured to generate perception data indicative of a condition of the environment, a network communication transceiver configured to communicate with an oversight system and an external weather condition source, a non-transitory computer readable medium, and a processor. The processor is configured to: receive the perception data from the at least one perception sensor, receive an indication of current weather conditions from the external weather condition source, determine a current environmental condition severity level from a plurality of severity levels based on the perception data and the indication of current weather conditions, modify one or more driving parameters that that govern a range of actions that can be autonomously executed by the autonomous vehicle, and navigate the autonomous vehicle based on the modified driving parameters.

Provided are a vehicle motion control device, a method thereof, a program thereof, a system thereof in which it is adapted for traveling situation while an occurrence of an unstable behavior of a vehicle at the time of automatic lane change is suppressed, and a target trajectory generation device, a method thereof, a method thereof, a program thereof, and a system thereof. In a vehicle that can automatically control a lateral acceleration generated in the vehicle at the time of lane change, the lateral acceleration at the time of lane change is controlled such that an absolute value of a maximum lateral acceleration generated on a lateral acceleration generation phase (the secondary steering side) in a lateral direction opposite to the moving direction at the time of lane change is equal or more than an absolute value of a maximum lateral acceleration generated on a lateral acceleration generation phase (primary steering side) in the same direction as a lateral moving direction at the time of lane change.

A vehicle speed control method, the method comprises: when a vehicle body is in a normal state, determining a first vehicle speed of the vehicle body based on road safety information; acquiring a driving segment of the vehicle body, and determining a pose variation amount of the vehicle body within the driving segment; determining a tangential acceleration of the vehicle body within the driving segment according to a correlation between the pose variation amount of the vehicle body and the tangential acceleration of the vehicle body; when the tangential acceleration of the vehicle body reaches a preset maximum tangential acceleration, determining a second vehicle speed of the vehicle body; and determining whether the second vehicle speed is smaller than the first vehicle speed, and if the second vehicle speed is smaller than the first vehicle speed, determining the second vehicle speed to be a target vehicle speed.