Among other things, we describe techniques for traffic light estimation using range sensors. A planning circuit of a vehicle traveling on a first drivable region that forms an intersection with a second drivable region receives information sensed by a range sensor of the vehicle. The information represents a movement state of an object through the intersection. A traffic signal at the intersection controls movement of objects through the intersection. The planning circuit determines a state of the traffic signal at the intersection based, in part, on the received information. A control circuit controls an operation of the vehicle based, in part, on the state of the traffic signal at the intersection.

An apparatus for controlling a vehicle includes an object selection device configured to select an object intersecting the vehicle at an intersection existing on a driving path of the vehicle, a risk determination device configured to determine a risk during driving of the vehicle based on a predicted path of the object, and a driving control device configured to determine a driving method of the vehicle based on a risk determination result.

In an apparatus for assisting a turn of a vehicle at an intersection, a turn-signal state detection unit is configured to detect an operating state of a turn signal of the vehicle. A road information detection unit is configured to detect road information that is information regarding a road on which the vehicle is traveling. A determination unit is configured to, using at least one of the detected operating state of the turn signal and the detected road information, determine whether or not the vehicle will make a turn at the intersection.

A method for correcting a travelling trajectory of a vehicle which is executed by a processor includes: generating a subject vehicle travelling route that a subject vehicle travels based on map information stored in a database; calculating a travelling trajectory of the subject vehicle to be a target trajectory when the subject vehicle travels on the subject vehicle travelling route; detecting a position of another vehicle travelling on a lane located in a width direction of the subject vehicle by a sensor provided for the subject vehicle; calculating an offset of a position of the other vehicle in another vehicle lane that the other vehicle travels based on the position of the other vehicle; and correcting the travelling trajectory of the subject vehicle in accordance with the offset.

A vehicle behavior evaluation device: sets multiple possible behaviors of an own vehicle when the own vehicle travels along a planned route; generates, using a function device, traveling situation related reward data by learning; calculates, using the function device, a reward to each possible behavior of the own vehicle by considering a traveling state of different vehicle; and evaluates each possible behavior of the own vehicle based on the calculated reward. The traveling situation related reward data is generated by: simulating multiple combinations of situations of the own vehicle and the different vehicle under different environments; assigning a first reward to a first situation of the own vehicle when the own vehicle avoids a contact with the different vehicle; and assigning a second reward that is lower than the first reward to a second situation of the own vehicle when the own vehicle contacts with the different vehicle.

Provided is a vehicle braking support device. The braking support device includes: detection units for detecting a state around a host vehicle; a braking support control unit for executing braking support by a braking device according to the detected state; and a vehicle stop control unit for maintaining a stopped state of a host vehicle after the host vehicle is stopped by the braking support control unit, and for releasing the stopped state of the host vehicle after a predetermined period has elapsed. The vehicle stop control unit, in a case where by using the detected state it is determined that it is desirable to maintain the stopped state of the host vehicle beyond the predetermined period, the vehicle stop control unit does not release the stopped state of the host vehicle until an operation by a driver is detected.

An autonomous vehicle (AV) includes features that allows the AV to comply with applicable regulations and statues for performing safe driving operation. An example method for operating the AV includes determining a trajectory related information of a vehicle operating on a roadway on which the AV is operating; receiving sensor data of a first area that includes the vehicle; determining an additional trajectory related information for the AV by comparing the trajectory related information of the vehicle to a current trajectory related information of the AV, wherein the additional trajectory related information is based on a category to which the vehicle belongs, and wherein the additional trajectory related information allows the AV to maintain at least a distance between the AV and the vehicle; and causing the AV to operate in accordance with the additional trajectory related information.

A vehicle includes a chassis, a driveline coupled to the chassis, and a control system. The control system is configured to monitor a condition of at least one of the vehicle, an area around the vehicle, or an operator of the vehicle; and control operation of the driveline based on the condition. Controlling the operation of the driveline includes at least one of limiting a speed at which the driveline drives the vehicle or shutting down the driveline and isolating a component of the driveline.

Real-time decision-making for a vehicle using belief state determination is described. Operational environment data is received while the vehicle is traversing a vehicle transportation network, where the data includes data associated with an external object. An operational environment monitor establishes an observation that relates the object to a distinct vehicle operation scenario. A belief state model of the monitor computes a belief state for the observation directly from the operational environment data. The monitor provides the computed belief state to a decision component implementing a policy that maps a respective belief state for the object within the distinct vehicle operation scenario to a respective candidate vehicle control action. A candidate vehicle control action is received from the policy of the decision component, and a vehicle control action is selected for traversing the vehicle transportation from any available candidate vehicle control actions.

Disclosed in the present application are a method for generating a speed control model, a vehicle control method and an apparatus. The vehicle control method comprises: acquiring the current geographic location of a target vehicle and a target speed control feature corresponding to the current geographic location, the target speed control feature being a feature that affects the speed of the vehicle; inputting the current geographic location and the target speed control feature corresponding to the current geographic location into a speed control model to obtain the current target speed of the target vehicle, the speed control model being generated by training starting coordinates and ending coordinates of each preset lane segment in the map data, the target speed control feature and a speed control label in the preset lane segment; and controlling the target vehicle to drive according to the current target speed.