A system for controlling stop of a vehicle includes a steering angle comparison device that detects a current steering angle of the vehicle and compares the detected current steering angle with a preset limit steering angle when a malfunction of a steering system in the vehicle is detected during autonomous driving, a partial braking induction determination device that determines a position of a tire of the vehicle to be subjected to partial braking for steering control of the vehicle according to a result of the comparing between the current steering angle and the limit steering angle, and a partial braking control device that determines an amount of braking to be applied to each determined tire of the vehicle and applies a braking pressure corresponding to the amount of braking to each tire of the vehicle to perform the steering control by the partial braking.

An electronic control device provided in a vehicle that mounts an in-vehicle system is provided. The electronic control device may detect an abnormality that occurs in the in-vehicle system. The electronic control device may detect an operation related to a lane change. The electronic control device may store a travel plan for performing an autonomous driving of the vehicle. The electronic control device may acquire at least one of a subject vehicle information item on the vehicle, a surrounding information item on a surrounding environment of the vehicle, and a driver information item on a driver.

A sensor abnormality determination device of a four-wheel drive vehicle including a drive source, main drive wheels and sub-drive wheels, a power transmitting member, a first connecting/disconnecting device, a second connecting/disconnecting device, a first sensor, and a rotation sensor, the sensor abnormality determination device comprises a first sensor abnormality determining portion determining that the first sensor is abnormal when the rotation sensor detects the rotation of the power transmitting member and it is presumed that the four-wheel drive vehicle is in the four-wheel drive state, when the first sensor detects that the first connecting/disconnecting device is in the disconnecting state, and when the rotation sensor detects the rotation of the power transmitting member after the second connecting/disconnecting device is switched to the disconnecting state.

In one embodiment, a method for monitoring a localization function in an autonomous driving vehicle (ADV) can use known static objects as ground truths to determine when the localization function encounter errors. The known static objects are marked on a high definition (HD) map for the real-time driving environment. When the ADV detects one or more known static objects, the ADV can use sensor data, locations of the one or more static objects, and one or more error tolerance parameters to create a localization error tolerance area surrounding a current location of the ADV. The ADV can project the tolerance area on the HD map, performs a localization operation to generate an expected location of the ADV on the HD map, and determines whether the generated location falls within the projected tolerance area. If the generated location falls outside the projected tolerance area, indicating a localization function of the ADV encounter errors, the ADV can generate an alarm to alert a human driver to switch to a manual driving mode. If no human driver is available in the ADV, the ADV can activate a vision-based fail-safe localization procedure.

According to one embodiment, a motion trajectory boundary is obtained based on a trajectory that has been planned to drive an ADV for a next time period. A safe driving area boundary is determined for the ADV based on perception data perceiving a driving environment surrounding the ADV. The motion trajectory boundary and the safe drivable area boundary are projected onto a map such as an HD map. A relative location of the ADV within the map relative to the motion trajectory and the safe drivable area boundary is determined. A fail-safe action or a fail operational action may be performed based on the relative location of the ADV in view of the motion trajectory boundary and the safe drivable area boundary.

The disclosure relates to a vehicle system for a vehicle, in particular a commercial vehicle, that includes an electronically controllable pneumatic braking system, and an electronically controllable steering device. The electronically controllable pneumatic braking system has a redundant control unit, which controls the brake circuits in the event of a failure of an electronic stability control of the braking system during travel. In the event of the failure of the electronic stability control during travel, the redundant control unit performs axle-wise control of the front axle with a front axle redundancy brake pressure and/or of the rear axle with a rear axle redundancy brake pressure and the electronically controllable steering device carries out laterally stabilizing steering interventions in order to keep the vehicle in a tolerance corridor of a predefined target trajectory of the vehicle. The disclosure also relates to a vehicle and a method.

The present disclosure concerns a safety system for a vehicle. The vehicle includes a tracking unit and at least one chassis sensor. The safety system may receive sensor data from the at least one chassis sensor and trusted data from the tracking unit, and then may detect an inconsistency between the sensor data and the trusted data. In response to the detection of the inconsistency, the safety system may block at least parts of the sensor data from the at least one chassis sensor.

A backup control unit for controlling motion of a heavy-duty vehicle during a minimum risk maneuver, where the backup control unit is arranged to receive data indicative of a planned sequence of vehicle control commands from a main vehicle control unit. The backup control unit comprises a first vehicle model configured to map the planned sequence of vehicle control commands into a desired vehicle behavior and is arranged to obtain a measured vehicle behavior from one or more vehicle sensors. Also, the back-up control unit is arranged to determine an adjusted sequence of vehicle control commands based on the planned sequence of vehicle control commands and on a deviation between the desired vehicle behavior and the measured vehicle behavior, and to transmit the adjusted sequence of vehicle control commands to a motion support device, MSD, control unit of the vehicle.

A driving assist apparatus for a vehicle includes a front-side-environment recognition camera, a front-side-environment recognition sensor, and a control device. The front-side-environment recognition camera is configured to recognize a driving environment ahead of the vehicle. The front-side-environment recognition sensor is configured to recognize the driving environment ahead of the vehicle. In a case where image recognition of the front-side-environment recognition camera for a leading vehicle for adaptive cruise control has deteriorated during execution of the adaptive cruise control, the control device is configured to continue executing the adaptive cruise control based on a distance from the vehicle to the leading vehicle obtained by the front-side-environment recognition sensor.

A vehicle includes a power supplier, a junction block configured to supply power from the power supplier, an integrated central control unit configured to receive the power from the junction block, a controller configured to be receive the power through the integrated central control unit and to control at least one load unit of the vehicle, and a control unit configured to identify a power failure location of the vehicle and to determine a power supply method of the junction block during an autonomous driving of the vehicle, based on power monitoring information of each of the integrated central control unit, the junction block, and the controller and predetermined condition information, the predetermined condition information including power supply state information and power supply method information of each load unit corresponding to each of a plurality of pieces of power failure location information.