The present disclosure relates to a method and system for integrated path planning and path tracking control of an autonomous vehicle. The method includes: obtaining five input control variables and eleven system state variables of an autonomous vehicle at current time; constructing a vehicle path planning-tracking integrated state model according to the obtained variables at the current time; enveloping external contours of two autonomous vehicles using elliptical envelope curves to determine elliptical vehicle envelope curves of the two autonomous vehicles, respectively; determining time to collision (TTC) between the vehicles according to elliptical vehicle envelope curves and vehicle driving states; establishing an objective function of a model prediction controller (MPC) according to the model; and solving the objective function based on the TTC, and determining input control variables to the MPC at the next time. Autonomous vehicle collision avoidance can be achieved according to the present disclosure.

A control system includes a controller configured to determine a target speed between a first target position of a haul vehicle relative to a harvester and a second target position of the haul vehicle relative to the harvester based on a flow rate of agricultural product through a conveyor of the harvester. The haul vehicle is coupled to a storage compartment, an outlet of the conveyor is aligned with a first unloading point within the storage compartment while the haul vehicle is positioned at the first target position, and the outlet of the conveyor is aligned with a second unloading point within the storage compartment while the haul vehicle is positioned at the second target position. Furthermore, the controller is configured to output a control signal indicative of instructions to direct the haul vehicle from the first target position to the second target position at the target speed.

An apparatus for controlling a vehicle capable of performing autonomous driving is provided. The apparatus includes an autonomous driving device that executes the autonomous driving and generates a transition demand when it is impossible to execute the autonomous driving. A driving controller performs a minimum risk maneuver (MRM) of applying a deceleration pattern differently depending on a driving environment of the vehicle, when the transition demand is generated, but when driving manipulation by a driver does not occur. A subsequent safety ensuring function is performed according to the MRM for the driver to recognize the MRM, and a drive mode of the vehicle is changed to a drive mode with a rapid response speed to acceleration or steering.

Dynamic braking capability of a combination vehicle including a tractor and at least one trailer is provided based on a distribution of the load carried by the combination vehicle. Load distribution is determined directly using load sensors disposed at wheel pairs of the tractor and trailer(s) or indirectly by using a load sensor located at the drive axle of the tractor together with engine torque and vehicle speed signals for determining gross vehicle mass. A database having sub-databases therein each storing stopping distance calculation results for a corresponding combination vehicle type e.g. 5-axle single or 8-axle double, is indexed by using the determined load distributions for providing the dynamic braking capability based on the vehicle type and its load distribution. The database may also be indexed using Axle Load Allocation Factor that is calculated based on a mathematical combination of drive, steering, and gross trailer axle loading.

Methods, systems, and non-transitory computer-readable media are configured to perform operations comprising determining a lead obstacle in front of an ego vehicle; determining an optimizable function associated with an optimized preferred following distance between the ego vehicle and the lead obstacle; and generating the optimized preferred following distance based on the optimizable function.

A method for adaptively optimizing an autonomous driving system includes obtaining a driving intent of a driver of a target vehicle, wherein the target vehicle is an autonomous driving vehicle controlled by the autonomous driving system, detecting, based on the driver's driving intent, that a conflict exists between a first driving behavior of the target vehicle controlled by the autonomous driving system and the driver's driving intent, and updating the autonomous driving system such that a driving behavior of the target vehicle controlled by an updated autonomous driving system matches the driving intent.

The vehicle traveling control device performs control to secure the vehicle-to-vehicle distance between the preceding vehicle and the own vehicle when the lateral position of the preceding vehicle traveling in the adjacent lane reaches the reference lateral position. The vehicle traveling control device includes a speed calculating unit that calculates a relative lateral speed of the preceding vehicle with respect to the own vehicle, a reference position setting unit that sets a reference lateral position based on the relative lateral speed, and a vehicle control unit that controls the traveling of the own vehicle when the preceding vehicle reaches the reference lateral position. The reference position setting unit sets the reference lateral position to the side farther from the own vehicle as the relative lateral speed is smaller.

Provided is a driving support apparatus including: a surrounding sensor configured to acquire surrounding information on another vehicle present in front of a vehicle and dividing lines extending in front of the vehicle; and a control unit configured to: execute adaptive cruise control (ACC) of, when a preceding vehicle is determined to be present based on the surrounding information, executing acceleration control and deceleration control such that an inter-vehicle distance to the preceding vehicle matches a predetermined target inter-vehicle distance which becomes longer as a vehicle speed increases; and lengthen, when the ACC is started or the ACC is being executed in a case in which a vehicle height is increased to be higher than the normal height by vehicle height adjustment, a target-inter-vehicle-distance-when-stopped, which is the target inter-vehicle distance of when the vehicle is stopped, as compared with a case in which the vehicle height is the normal height.

A plan creating unit calculates a target inter-vehicle distance from relative speed information indicating relative speed of a preceding vehicle and host vehicle speed information indicating speed of a host vehicle, and creates, using an inter-vehicle distance between the host vehicle and the preceding vehicle indicated by distance information and the target inter-vehicle distance, a distance plan indicating changes over time of the inter-vehicle distance, a speed plan indicating changes over time of the speed of the host vehicle, and an acceleration plan indicating changes over time of acceleration of the host vehicle. A vehicle control unit calculates an acceleration control signal for controlling the acceleration of the host vehicle, using the distance information, the distance plan, the host vehicle speed information, and the speed plan. An instruction integrating unit generates an acceleration instruction using the acceleration control signal and the acceleration plan.

Systems and methods are provided for implementing variable energy regeneration cruise control, which involves dynamically increasing a limit of allowed energy regeneration in order to meet the deceleration need of the vehicle. The system and techniques leverage variable energy regeneration to allow for the additional energy resulting from deceleration to be stored (e.g., in a vehicle battery) for further use rather than being lost. Consequently, by ultimately providing additional stored energy, the disclosed variable energy regeneration cruise control system can realize advantages over conventional cruise control systems. A system can be programmed to dynamically adjust an amount of regenerative energy for decelerating a vehicle while a cruise control is activated. A regenerative braking system can decelerate the vehicle and store an amount of captured energy based on the amount of adjusted regenerative energy.