Systems, methods, and non-transitory computer readable mediums are provided for providing autonomous vehicle (AV) state information of an AV to a data center when an AV state change occurs so that the data center may determine one or more interpolated AV states of the AV prior to the AV state change. For example, a system may obtain sensor data generated by one or more sensor systems of the AV. Additionally, the system may determine a first AV state change of the AV at a first time based on the sensor data. Moreover, the system may generate a first message including a portion of the sensor data associated with the kinematic change in response to determining the first AV state change. Further, the system may transmit the first message to the data center.

A driver assistance system for automated longitudinal guidance of a motor vehicle configured to detect at least one turning opportunity for the motor vehicle, and to reduce the speed of the motor vehicle in accordance with the at least one detected turning opportunity.

Systems and methods for sampling based planning of possible trajectories for motor vehicles are provided. For example, a control system is configured to determine information relating to a current driving situation of the subject motor vehicle and at least one other motor vehicle on the basis of the environment data. The control system is also configured to determine a plurality of lateral positions. The control system is further configured to determine a number of longitudinal positions and/or speeds. The control system is yet further configured to sample the plurality of lateral positions and the number of longitudinal positions and/or speed in curvilinear coordinates and transformed based on the reference lane to determine stopping points for a trajectory. The control system is configured to determine the trajectory for the subject motor vehicle utilizing a spline-based interpolation in orthogonal coordinates between the determined stopping points and corresponding to the lateral positions.

A method of controlling a vehicle with a plurality of motion actuators comprises: determining a longitudinal inclination and speed of the vehicle; selecting an uphill drive mode if the longitudinal inclination is greater than an inclination threshold and the absolute speed is less than a speed threshold, and otherwise selecting a regular drive mode; obtaining motion requests; in accordance with the selected drive mode, providing a solution to an optimization problem related to optimal control of the motion actuators in accordance with the obtained motion requests; and controlling the motion actuators in accordance with the solution to the optimization problem. The optimization problem is dependent on a control effectiveness matrix which is defined differently in the uphill drive mode and the regular drive mode.