Realized is a technique of highly accurately calculating a state quantity of a vehicle. An ECU (600) of a vehicle (900) includes a ground contact load calculating section (610), an input quantity calculating section (620), a first state quantity calculating section (630), an observable calculating section (640), a second state quantity calculating section (650), and a damper ECU (660). The ECU (600) calculates a first state quantity of the vehicle (900) by inputting, into a vehicle model, a value calculated from a G sensor value and/or the like, and calculates a second state quantity of the vehicle (900) by correcting the first state quantity with use of an observable which is calculated from a ground contact load and a spring constant gain of a tire.

Embodiments of the disclosed systems and methods provide systems and techniques for improving reference route and/or trajectory information for autonomous vehicles that may allow for better operation and/or deployment. In certain embodiments, various optimization techniques may be employed for generating higher quality reference route and/or trajectory information based on initial reference route and/or trajectory information captured by an autonomous vehicle. Various embodiments of the disclosed systems and methods may improve reference route and/or trajectory information through processes that may involve editing and/or otherwise modifying initial route and/or trajectory information, smoothing path curves associated with initial reference route and/or trajectory information, modifying initial route and/or trajectory information based on vehicle-specific dynamics and/or parameters, and/or modifying velocities for improved passenger comfort.

A vehicle and method for controlling a vehicle having a traction battery and an internal combustion engine include adapting a power limitation of the internal combustion engine by sensing a currently supplied power level of the internal combustion engine and a current velocity of the vehicle, sensing an ambient temperature of the vehicle and determining an associated ambient-temperature-related weighting factor, sensing an ambient air pressure and determining an associated air-pressure-related weighting factor, determining a thermal load indicator as a function of a ratio of the sensed currently supplied power and the sensed current velocity as well as of the ambient-temperature-related weighting factor, the air-pressure-related weighting factor, and a vehicle-bodywork-related weighting factor, and limiting a maximum supplied power level of the internal combustion engine as a function of the determined thermal load indicator.

A method and a system for vehicle sideslip angle estimation based on event-triggered state estimation are provided. The method includes: setting an observation variable, and adopting a Kalman filtering algorithm for iteration aiming at estimation of a vehicle yaw rate; in the iteration, setting a parameter to 1, indicating that an event is triggered, when a calculation of the observation variable satisfies a predetermined condition, otherwise setting the parameter to 0, indicating that the event is not triggered; when the parameter is set and a GPS heading angle is updated, estimating a state variable according to a formula, and calculating a vehicle sideslip angle according to the vehicle yaw rate obtained by adopting the Kalman filtering algorithm; and when the parameter is 1 and the GPS heading angle is not updated yet, estimating the vehicle sideslip angle by fusing measurement data of both a GPS and an IMU.

A planned acceleration of a vehicle and a predicted optimal acceleration of a target is determined. Upon determining that an actual acceleration of the target differs from the predicted optimal acceleration, the planned acceleration of the vehicle is revised based on the actual acceleration of the target. The foregoing steps can be implemented by a vehicle computer according to program instructions stored in a memory of the vehicle computer. The vehicle can include sensors, actuators, and/or controllers in communication with the computer via a vehicle communication network.

An apparatus comprising at least one interface to receive sensor data from a plurality of sensors of a vehicle; and one or more processors to autonomously control driving of the vehicle according to a path plan based on the sensor data; determine that autonomous control of the vehicle should cease; send a handoff request to a remote computing system for the remote computing system to control driving of the vehicle remotely; receive driving instruction data from the remote computing system; and control driving of the vehicle based on instructions included in the driving instruction data.

A method for controlling a motor vehicle (10) traveling on a roadway (12) in a current lane (14) is described, wherein the roadway (12) has at least one additional lane (16) that is adjacent to the current lane (14) of the motor vehicle (10). The method has the following steps: Multiple different driving maneuvers are generated and/or received. At least two driving maneuver classes that are defined based on at least one characteristic variable of the driving maneuvers are determined, wherein the driving maneuvers of various driving maneuver classes differ by at least one characteristic variable. The driving maneuvers are classified in one of the at least two driving maneuver classes. In addition, a control unit (30) for controlling a motor vehicle (10) is described.

In a method of creating a database for preview vibration damping control, road surface displacement-associated information detected by a detection device is acquired, positional information capable of identifying a position where the road surface displacement-associated information is detected is acquired, a road surface displacement-associated value associated with a vertical displacement of a road surface is calculated based on the road surface displacement-associated information, and a set of data obtained by linking the road surface displacement-associated value and the positional information with each other is stored into a storage device as part of a database. When it is determined that the magnitude of the road surface displacement-associated value exceeds a permissible reference value set in advance, the magnitude of the road surface displacement-associated value is corrected in a reducing manner, prior to the step of storing the set of data into the storage device.

A hybrid vehicle control method controls a hybrid vehicle. In this control method, a rotational speed command value for a power generation system is determined in accordance with a state of a drive system, a torque command value is determined for the power generation system such that the rotational speed of the power generation system reaches the rotational speed command value, a damping control is performed to suppress a characteristic vibration component generated in a connection between the engine and the power generator to calculate a final torque command value for the power generation system, and the torque command value is set as the final torque command value without performing the damping control upon determining a system resonance can occur that is caused by vibration of a component different from the characteristic vibration component.

In a method for operating a vehicle which has a communication interface, a position-determining unit and at least one road data set-determining unit, a database road data set is received by the communication interface, which data set is presumably made available by the database which is arranged externally with respect to the vehicle and which is representative of the position-dependent, road-related property. Depending on the database road data set and a vehicle road data set which is assigned thereto in terms of position, a trust characteristic value is determined which is representative of the level of trust in further database road datasets which relate to predefinable positions of the vehicle.