Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining the likelihood that a particular event would occur during a navigation interaction using simulations generated by sampling from agent data. In one aspect, a method comprises: identifying an instance of a navigation interaction that includes an autonomous vehicle and agents navigating in an environment; generating multiple simulated interactions corresponding to the instance, comprising, for each simulated interaction: identifying one or more agents; for each identified agent and for each property that characterizes behavior of the identified agent, obtaining a probability distribution for the property; sampling a respective value from each of the probability distributions; and simulating the navigation interaction in accordance with the sampled values; and determining a likelihood that the particular event would occur during the navigation interaction based on whether the particular event occurred during each of the simulated interactions.

A system comprises a computer including a processor and a memory. The memory includes instructions such that the processor is programmed to: receive safety messages from a plurality of vehicles in communication with the edge server, determine an uplink frequency recommendation for transmitting safety messages from at least one vehicle of the plurality of vehicles based on at least one of a position error or a collision risk, determine a downlink frequency recommendation for transmitting safety messaging to at least one vehicle of the plurality of vehicles based on at least one of a position error or a collision risk, and transmit the frequency recommendations to the at least one vehicle.

Provided is a method and apparatus with driving control. A method includes estimating a predicted route of a vehicle based on odometry information of the vehicle and location information of the vehicle, based on road map information, determining a target zone corresponding to the predicted route, and generating driving control information of the vehicle based on an object detection result for the determined target zone.

An apparatus for warning the collision of a vehicle includes an information acquirer configured to acquire information on a surrounding object and information on a vehicle, and a controller configured to generate collision predicting information for the surrounding object, based on the information on the surrounding object and the information on the vehicle, and generate control information to control braking of the vehicle and to provide, based on the collision predicting information, a buffer element to an outside of the vehicle while controlling the braking of the vehicle.

A vehicular control system includes a sensor disposed at a vehicle and capturing sensor data. The system, as the vehicle is approaching an intersection and responsive to processing by a processor of sensor data captured by the sensor, detects a cross-traffic threat approaching the intersection and maintains a buffer to store a trajectory of the cross-traffic threat. The system, using the trajectory, determines an intersection point between the vehicle and the cross-traffic threat, determines an arrival time at the intersection point for both the vehicle and the cross-traffic threat, and determines a difference between the arrival time of the vehicle at the intersection and the cross-traffic threat. The system, responsive to determining that the difference between the arrival time of the equipped vehicle at the intersection and the arrival time of the cross-traffic threat is less than a threshold amount, controls a safety system of the vehicle.

A system and method for estimating and communicating a path of travel of a reference vehicle by road side equipment (RSE) that includes establishing communication between the RSE and an on-board equipment of the reference vehicle and receiving vehicle parameters of the reference vehicle from the on-board of the reference vehicle. The system and method also include estimating the path of travel of the reference vehicle based on the vehicle parameters of the reference vehicle and environmental parameters determined by the RSE. The system and method further include establishing communication between the RSE and an on-board equipment of a target vehicle and communicating the estimated path of travel of the reference vehicle from the RSE to the target vehicle, wherein a probability of collision between the reference vehicle and the target vehicle is determined based on the estimated path of travel of the reference vehicle.

A vehicle driving assist apparatus of the invention starts a collision avoidance steering assist control to automatically steer the vehicle to avoid a collision of the vehicle with the obstacle in response to a driver performing a collision avoidance steering operation for avoiding the collision when there is a possibility that the vehicle collides with the obstacle. The vehicle driving assist apparatus cancels the collision avoidance steering assist control in response to the driver performing a counter collision avoidance steering operation against automatically steering the vehicle intended to be achieved by the collision avoidance steering assist control after a first predetermined time elapses from starting the collision avoidance steering assist control. The vehicle driving assist apparatus continues the collision avoidance steering assist control until the first predetermined time elapses from starting the collision avoidance steering assist control even when the driver performs the counter collision avoidance steering operation.

The present invention obtains a controller and a control method capable of improving safety of adaptive cruise operation in a motorcycle.

In the controller for operation of the motorcycle, to which a surrounding environment detector is mounted, an adaptive cruise operation performing section controls deceleration to be generated by the motorcycle in adaptive cruise operation to be equal to or lower than an upper limit value or to be lower than the upper limit value, determines a collision possibility of the motorcycle on the basis of the upper limit value during the adaptive cruise operation, and performs warning operation that acts on a tactile organ of a rider of the motorcycle when determining that the collision possibility is high.

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 forklift truck includes a main controller, a driving motor, a drive controller, and an object detector. The drive controller controls the driving motor. The object detector detects the position of an object being present in the backward direction of the forklift truck. The main controller derives an expected trajectory of the forklift truck. The main controller imposes a speed limit on the forklift truck by setting a vehicle speed upper limit when the object detected by the object detector is located within the expected trajectory and the forklift truck is traveling in the direction of approaching the object. The main controller gives commands to the drive controller to prevent the vehicle speed of the forklift truck from exceeding the vehicle speed upper limit.