There is provided mechanisms for AD, or at least ADAS, aided manoeuvring of a vehicle. A method includes selecting between using a CRLS based positioning system and a GNSS based positioning system for aiding manoeuvring of the vehicle. Which positioning system to select is based on comparing a first error determined for the CRLS based positioning system to a second error determined for the GNSS based positioning system. The positioning system with smallest error is selected. The method comprises aiding the manoeuvring of the vehicle using the selected positioning system. The manoeuvring pertains to reversing of the vehicle.

A vehicle control apparatus is mounted in a vehicle and includes: an object detecting unit that detects an object in a travelling direction of the vehicle; and a suppressing unit that suppresses driving force of the vehicle when the object detecting unit detects the object. The suppressing unit performs a first process to gradually increase the driving force when a command to move in the travelling direction is issued and the vehicle is stopped in a state in which the driving force of the vehicle is suppressed, and after the vehicle starts to move from the stopped state, performs a second process to gradually increase the driving force with an amount of increase per time in the driving force that is less than that in the first process.

A rearwardly directed movement of a first vehicle that has a driving assistance system that can be controlled, the driving assistance system having at least one sensor and a control device, in which threshold values for triggering a warning intervention and/or braking intervention in respect of the interval in relation to at least one further road user are set, and additionally being connected to or having a camera, by which activated travel-direction indicators of a further road user are recognized, which travel-direction indicators are included in the calculation of a probable trajectory of the further road user, and a probability of a collision is calculated, according to which the threshold values are lowered or raised.

A method for operating a motor vehicle, in which an object situated in a sensor region is detected with the aid of a sensor in surroundings of the motor vehicle; A piece of position information relating to the object is created. The position information is retained when the object is moved out of the sensor region, due to a movement of the motor vehicle, the distance of the object to the motor vehicle not increasing. The invention further relates to a motor vehicle and a computer program product.

A vehicle control device includes a control unit. In a state where a first electric motor generates electricity by rotating an internal combustion engine and a target driving force is decided based on an operation for an accelerator pedal, the control unit performs a first driving control in which driving of a vehicle by a first driving force, which is a driving force of a first driving device including the internal combustion engine and the first electric motor, is prioritized. In a state where the first electric motor generates electricity by rotating the internal combustion engine and the target driving force is decided without being based on the operation for the accelerator pedal, the control unit performs a second driving control in which driving of the vehicle by a second driving force, which is a driving force of a second driving device including a second electric motor, is prioritized.

An apparatus and method for controlling articulation of an articulated vehicle may prevent jackknifing of the articulated vehicle driven backwards. The apparatus includes a hitch angle calculator configured to calculate a desired hitch angle based on a steering angle and a speed of the articulated vehicle, an error calculator configured to calculate an error between the desired hitch angle and an actual hitch angle of the articulated vehicle, a moment generator configured to generate a moment for controlling the articulation of the articulated vehicle based on the error, and an articulation controller configured to control the articulation of the articulated vehicle based on the moment.

A strict reverse navigation method for optimal estimation of fine alignment is provided. The strict reverse navigation method including: establishing an adaptive control function; performing a forward navigation calculation process; performing a reverse navigation calculation process; and performing the adaptive control for a number of forward and reverse calculations. The strict reverse navigation method shortens an alignment time for the optimal estimation of fine alignment while ensuring an alignment accuracy. The strict reverse navigation method provided effectively solves a problem that an error of an initial value of filtering in an initial stage of the optimal estimation of fine alignment affects convergence speeds of subsequent stages. In the initial stage, a larger number of the forward and reverse navigation calculations are adopted to reduce an error of the initial value as much as possible and increase a convergence speed of the filtering.

The present disclosure relates to an apparatus and method for determining transfer of control authority of a vehicle for determining whether transfer of control right of a vehicle is required according to whether a reverse-driving vehicle exists in a driving lane. According to the present disclosure, an apparatus for determining transfer of control authority of a vehicle may obtain information on the vehicle's surroundings, and determine whether a reverse-driving vehicle exists in front of the host vehicle on the driving lane during autonomous driving of the vehicle, based on the information on the surroundings of the vehicle and high definition map information and determine a situation in which the transfer of control authority to the user is required based on whether or not a reverse-driving vehicle exists in front of the host vehicle on the driving lane.

A driving support apparatus according the embodiment includes: a determination unit that determines driving support control having a driving support resource amount that is capable of assuring required resources with respect to a resource amount that is capable of being assured by a level of a vehicle driver's concentration on driving, the required resources being assumed to be required for safe driving; and a driving support unit that changes the driving support control to be performed to driving support control that is determined by the determination unit to be capable of assuring the required resources.

A method includes controlling an electrified vehicle by modifying a state of charge (SOC) window associated with an energy storage device of the electrified vehicle in response to a reverse driving event or a trailer towing event.