A vehicle includes: an input configured to receive a destination; a display; a driver assistance system configured to control a behavior of the vehicle based on surrounding environment information; and a controller configured to control the display to display a driving route. The controller may be configured to determine, when a distance between a branch point on the driving route and the vehicle reaches a first distance, a possibility that the vehicle deviates from the driving route based on GPS information, vehicle speed information, and the surrounding environment information, and search for, when the possibility is greater than or equal to a preset threshold, a deviation route for reaching the destination based on the deviated direction and control the display to display the deviation route until the distance between the branch point on the driving route and the vehicle reaches a second distance.

A method of maintaining stability of a motor vehicle having a first axle, a second axle, and a steering actuator configured to steer the first axle includes determining localization and heading of the vehicle. The method also includes determining a current side-slip angle of the second axle and setting a maximum side-slip angle of the second axle using the friction coefficient at the vehicle and road surface interface. The method additionally includes predicting when the maximum side-slip angle would be exceeded using the localization, heading, and determined current side-slip angle as inputs to a linear computational model. The method also includes updating the model using the prediction of when the maximum side-slip angle would be exceeded to determine impending instability of the vehicle. Furthermore, the method includes correcting for the impending instability using the updated model and the maximum side-slip angle via modifying a steering angle of the first axle.

A controller for a hybrid vehicle performs charging control when a shift range of the hybrid vehicle is a first range, and does not perform the charging control when the shift range of the hybrid vehicle is a second range, the charging control being control of charging a power storage device with electric power generated by a generator driven by an engine. The controller records diagnosis information when an SOC of the power storage device is equal to or lower than a first threshold value and the shift range of the hybrid vehicle is the first range, and does not record the diagnosis information when the SOC of the power storage device is equal to or lower than the first threshold value and the shift range of the hybrid vehicle is the second range.

Techniques are described to enable a vehicle, such as an autonomous vehicle, to steer and/or apply brakes on a road when a failure condition occurs. An example method for autonomous driving operation includes receiving a reduced set of location information that describes a location of the autonomous vehicle on a road; receiving a reduced set of trajectory information where the autonomous vehicle is expected to be driven; determining a driving path information where the autonomous vehicle is expected to be driven; and in response to determining an occurrence of a fault condition: sending a first instruction to cause the autonomous vehicle to steer the autonomous vehicle using at least the driving path information and the reduced set of location information, and sending a second instruction to cause the autonomous vehicle to apply brakes.

A vehicular communication system includes a wireless communication sensor at a vehicle equipped with the vehicular communication system for receiving wireless communication data from remote wireless communication devices. A global positioning system is operable to determine a geographical location of the vehicle. An electronic control unit (ECU) includes electronic circuitry and associated software that includes a processor for processing wireless communication data received by the wireless communication sensor and position information determined by the global positioning system. The ECU, responsive at least in part to determination that position information determined by the global positioning system is compromised, determines, via processing the received wireless communication data, distances to a plurality of the remote wireless communication devices. The ECU, responsive to determining the distances to the plurality of the remote wireless communication devices, determines a position of the vehicle relative to the plurality of the remote wireless communication devices.

A system for regulating the speed of a vehicle includes defining a first border for a first geographic region. The border has a first speed within the border and a second speed outside of the border. The system includes determining a first velocity of the vehicle including a vehicle speed and direction of the vehicle approaching the border. The difference between the vehicle speed and the second speed is the calculated, as is a distance between the vehicle and the border. If the difference between the vehicle speed and the second speed divided by the distance is greater than a predetermined value, the vehicle is decelerated at a rate so that the vehicle will have a second speed when the vehicle reaches the border.

Provided are methods for vehicle state estimation based on sensor data, which can include receiving the sensor data generated by one or more sensors, calculating a cornering stiffness value associated with the vehicle, predicting a lateral velocity value associated with the vehicle based on the cornering stiffness value, and outputting a set of vehicle state variables indicative of a current state of the vehicle at least by inputting the lateral velocity value into a recursive filter. Some methods described also include updating the cornering stiffness value based on the set of vehicle state variables, updating the lateral velocity value based on the updated cornering stiffness value, and updating the set of vehicle state variables based on the updated lateral velocity value. Systems and computer program products are also provided.

A multi-layer path-planning system and method calculates trajectories for autonomous vehicles using a global planner, a fast local planner, and an optimizing local planner. The calculated trajectories are used to guide the autonomous vehicle along a bounded path between a starting point and a destination.

The disclosure describes embodiments for modifying a whether an ego vehicle changes lanes to a target lane at a target time based on a payload of a Vehicle-to-Everything (V2X) message originated by a remote vehicle. In some embodiments, a method includes determining, based on the payload, whether the remote vehicle is changing lanes to the target lane at the target time. The method includes determining that the ego vehicle is changing lanes to the target lane at approximately the target time. The method includes estimating that the ego vehicle and the remote vehicle will collide at the target lane at the target time. The method includes modifying an operation of a vehicle component of the ego vehicle so that the ego vehicle does not change lanes to the target lane at the target time.

A system and method for assisting drivers of vehicles are described. The systems and methods provide an extended view of the area surrounding the driver's vehicle while providing real-time object trajectory for objects and other vehicles that may enter the driver's reactionary zone. The system and methods capture images of the area surrounding the driver's vehicle and create a composite image of that area in real-time and using Augmented Reality (AR) create a 3-D overlay to warn the driver as objects or other vehicles enter the driver's reactionary zone so that a driver can make more informed driving decisions.