A vehicular lane centering system is enabled responsive to speed of the vehicle exceeding a threshold speed and includes a camera and a processor. Based on processing of captured image data, the system determines position of a left lane delimiter and a right lane delimiter on the road. The system establishes a left safe zone delimiter based on the determined position of the left lane delimiter and a right safe zone delimiter based on the determined position of the right lane delimiter. With the system enabled, the system takes corrective action responsive to the vehicular lane centering system determining that the vehicle is at risk of unintentionally crossing the left safe zone delimiter or the right safe zone delimiter. When the system does not determine position of the left lane delimiter or the right lane delimiter for a first period of time, corrective action taken by the system is reduced.

An exemplary method generally involves determining a hazard parameter for a tracked vehicle including a ground interface assembly. The ground interface assembly generally includes a track and a drive wheel operable to move the track to thereby propel the tracked vehicle. A load sensor senses a load carried by the tracked vehicle, and a speed sensor senses a vehicle speed of the tracked vehicle. A control system in communication with the load sensor, the speed sensor, and a temperature sensor determines the hazard parameter based upon the load, the vehicle speed, and an ambient temperature in a vicinity of the tracked vehicle. The control system compares the hazard parameter to a threshold parameter, and performs an action based upon the comparison.

Systems and methods are disclosed for reducing second order dynamics delays in a control subsystem (e.g. throttle, braking, or steering) in an autonomous driving vehicle (ADV) and increasing control system bandwidth by accounting for time-latency in a control subsystem actuation system. A control input is received from an ADV's autonomous driving system. The control input is translated into a control command of the control subsystem of the ADV. A reference actuation output and a predicted actuation output are generated corresponding to a by-wire (“real”) actuation action for the control subsystem. A control error is determined between the reference actuation action and the by-wire actuation action. A predicted control error is determined between the predicted actuation action and the between the by-wire actuation action. Adaptive gains are determined and applied to the by-wire actuation action to generate a second by-wire actuation action.

Disclosed is a method for controlling a hybrid vehicle power train, including a thermal drive chain and an electric drive chain, the electric drive chain including a traction battery, a voltage modulator, an inverter, first and second electrical machines. The voltage modulator is designed to modulate a supply voltage of an electric current from the traction battery to the first and second electrical machines. The method includes: a step of analytically calculating an optimal supply voltage using a mathematical expression that corresponds to the resolution of an equation expressed as

[00001]$\frac{\partial P_{bat}}{\partial U_e}=0,$

where U.sub.e is the supply voltage, P.sub.bat is the electrical power supplied by the traction battery, and where the electrical power supplied by the traction battery is expressed as a quadratic function of the supply voltage; and a step of controlling the voltage modulator in such a way that it outputs the optimal supply voltage.

A system and method of detecting and responding to a failure of one or more vehicle components, the method including: receiving system input at a failure detection module regarding the one or more vehicle components; determining a system state through use of one or more onboard vehicle sensors; obtaining a nominal state transition matrix and a nominal state input matrix; calculating a present state transition matrix estimate and a present state input matrix estimate based on the nominal state transition matrix, the nominal state input matrix, the system input, and a sampled state derivative; detecting a failure of at least one of the vehicle components based on one or more component parameters of the present state transition matrix estimate and/or the present state input matrix estimate; and performing a vehicle action in response to the detection of the failure.

A method for monitoring and identifying sensor faults in an electric drive system of a vehicle includes collecting corresponding data using sensors in the electric drive system, inputting the collected data to an already-established sensor fault mode identification model, and determining whether a fault mode exists and a fault mode type based on the collected data using the sensor fault mode identification model. The method quickly determines the fault mode caused by a sensor fault in the electric drive system, and the fault mode type of the sensor fault.

Systems and methods are disclosed for identifying time-latency and subsystem control actuation dynamic delay due to second order dynamics that are neglected in control systems of the prior art. Embodiments identify time-latency and subsystem control actuation delays by developing a discrete-time dynamic model having parameters and estimating the parameters using a least-squares method over selected crowd-driving data. After estimating the model parameters, the model can be used to identify dynamic actuation delay metrics such as time-latency, rise time, settling time, overshoot, bandwidth, and resonant peak of the control subsystem. Control subsystems can include steering, braking, and throttling.

Disclosed is a car flat tire safety and stability control method for manned and unmanned vehicles based on vehicle braking, driving, steering and suspension systems. The method establishes flat tire determination by tire pressure detection, a state tire pressure and a mechanical steering state, and adopts a car tire burst safety and stability control mode, model and algorithm, and a control structure and procedure. Based on a flat tire state point, the control over vehicle braking, driving and steering, a steering wheel gyroscopic force and suspension balancing is executed in a coordinated manner by means of switching between entering and exiting flat tire control and between a normal mode and a flat tire control mode, thereby realizing overlapped flat tire control of a real or unreal flat tire process. In the case of sharp changes in a flat tire process state, a flat tire wheel and a vehicle motion state, the technical problems of the severe instability of wheels and a vehicle due to a flat tire, the technical difficulties in controlling an extreme flat tire state are resolved, and the problem of the car flat tire safety technology is solved.

Systems and methods are disclosed for reducing second order dynamics delays in a control subsystem (e.g. throttle, braking, or steering) in an autonomous driving vehicle (ADV). A control input is received from an ADV perception and planning system. The control input is translated in a control command to a control subsystem of the ADV. A reference actuation output is obtained from a storage of the ADV. The reference actuation output is a smoothed output that accounts for second order actuation dynamic delays attributable to the control subsystem actuator. Based on a difference between the control input and the reference actuation output, adaptive gains are determined and applied to the input control signal to reduce error between the control output and the reference actuation output.

Technologies for energy consumption optimization include a computing device in communication with a fuel cell electric vehicle (FCEV) or other hybrid architecture vehicle. The computing device receives mission parameters and an optimization objective associated with the FCEV and cost information associated with external energy sources. Each external energy source corresponds to an onboard energy storage device of the FCEV. The computing device determines an optimized energy source schedule based on the mission parameters, the optimization objective, and the cost information using a vehicle model of the FCEV. The optimized energy source schedule is indicative of supplying one or more of the onboard energy storage devices with energy from the associated external energy source. The computing device may recommend a component replacement for the FCEV using a component aging model. Other embodiments are described and claimed.