The present disclosure relates to a driver-assistance system comprising a GNSS receiver, a camera and a control unit, wherein the driver-assistance system is configured to calculate respective local lane data for keeping the vehicle in the lane dependent on a respective image of at least the respective segment generated by means of the camera, wherein the respective local lane data specifies a respective course of the lane on the respective segment relative to the vehicle, wherein the driver-assistance system is configured to convert the respective local lane data into respective global lane data dependent on respective GNSS data of the vehicle generated by means of the GNSS receiver when driving on the respective segment and to save the respective global lane data, wherein the respective global lane data specifies the respective course of the lane on the respective segment in global coordinates.

Yaw rate estimating device includes: information acquirer that acquires information on front image and information on vehicle speed; lane recognizer that recognizes traveling lane drawn on traveling route of own vehicle and curvature thereof based on information on front image; direction change rate calculator that calculates change rate of direction of traveling lane based on information on curvature of traveling lane and vehicle speed; yaw angle change rate calculator that calculates change rate of yaw angle of own vehicle with respect to direction of traveling lane based on information on curvature of traveling lane and vehicle speed; and lane yaw rate estimator that estimates lane yaw rate based on change rate of direction of traveling lane and change rate of yaw angle of own vehicle with respect to direction of traveling lane, wherein estimated lane yaw rate is used as yaw rate of own vehicle.

A method for early warning a blind area of a vehicle. In the method, the electronic device obtains at least one target image acquired by at least one camera of the vehicle. The electronic device further determines parameters of at least one target object in each of the at least one target image and a three-dimensional detection frame for each of the at least one target object based on the parameters. The electronic device further obtains a target detection frame of each of the at least one target object in a top view image of a plane where the vehicle is located by projecting the three-dimensional detection frame into the top view image and outputs alert information in response that an overlapped area exists between the target detection frame and a preset blind area of the top view image.

A vehicle control device includes a wheel speed acquisition unit which acquires wheel speeds of wheels of a vehicle based on detection results of wheel speed sensors, an acceleration acquisition unit which acquires an acceleration in a longitudinal direction of the vehicle based on a detection result of an acceleration sensor, a calculation unit which calculates a first vehicle speed based on the wheel speeds of the wheels, an estimation unit which calculates a second vehicle speed estimated based on the first vehicle speed and the detected acceleration, and a slip determination unit which determines whether the vehicle is in a slip state. The estimation unit calculates the second vehicle speed by executing a limit process on the detected acceleration, and switches a mode of the limit process when it is determined that the vehicle is in the slip state during acceleration or deceleration of the vehicle.

A contact deciding apparatus includes: reference signal creating units that create first and second reference signals, with a sine wave, that have the same frequency as a detection signal output from a sensor unit, and are respectively in phase with and out of phase with the detection signal; a demodulation circuit that creates first and second demodulation signals by multiplying the detection signal respectively by the first and second reference signals; low-pass filters that extract first and second direct-current signals, which are respectively the direct-current components of the first and second demodulation signals; and a contact deciding unit that makes a decision about contact according to the first direct-current signal. The contact deciding unit decides that the connection state between the sensor unit and the detection circuit is abnormal when the first and second direct-current signals change in the same direction and normal when these signals change in opposite directions.

An embodiment of the present disclosure discloses a method for determining a collision risk state, an apparatus, an electronic device and a storage medium, wherein the method includes: determining first ego vehicle state information of a vehicle at a current time frame and first obstacle state information of an obstacle around the vehicle at the current time frame; predicting, based on the first ego vehicle state information, first position probability distribution information of the vehicle at a future time frame; predicting, based on the first obstacle state information, second position probability distribution information of the obstacle at the future time frame; and determining the collision risk state of the vehicle with the obstacle based on the first position probability distribution information and the second position probability distribution information corresponding to the future time frame.

It is an object of the present disclosure to provide a travel path generation apparatus and a travel path generation method enabling generation of a travel path not including a curve having a small radius of curvature. A travel path generation apparatus according to the present disclosure includes: a parameter determination unit to determine a cutoff frequency based on spacing between points of a sequence of points each having location information and a predetermined threshold of a radius of curvature, the sequence of points representing a shape of a lane in which a vehicle travels in a two-dimensional or three-dimensional Cartesian coordinate system; and a filtering unit to perform low-pass filtering using the cutoff frequency determined by the parameter determination unit on the location information of each of the points of the sequence of points.

Disclosed are an apparatus for estimating a bounce speed of a vehicle and a method thereof. The apparatus includes an acceleration sensor that detects an acceleration of the vehicle, a front wheel speed sensor that detects a wheel speed of a front wheel of the vehicle, a rear wheel speed sensor that detects a wheel speed of a rear wheel of the vehicle, and a controller. The controller determines a wheel acceleration of the front wheel based on the wheel speed of the front wheel, determines a wheel acceleration of the rear wheel based on the wheel speed of the rear wheel, and estimates the bounce speed of the vehicle. The bounce speed of the vehicle is estimated based on the acceleration of the vehicle, the wheel acceleration of the front wheel, and the wheel acceleration of the rear wheel.

The present invention provides a method, an apparatus, an electronic device, and a computer-readable storage medium for controlling an autonomous driving vehicle in a restricted area for a control center to adjust traveling of the autonomous driving vehicle. The method includes acquiring state information of a moving object in the restricted area, the moving object including a non-autonomous moving object and an autonomous driving vehicle, the non-autonomous moving object including a pedestrian and/or a non-autonomous driving vehicle, the state information including motion information and position information, the motion information including a motion direction and a motion speed; determining, based on state information of each of the moving objects, a temporary restricted passage space corresponding to the each moving object; and adjusting, based on state information of a current autonomous driving vehicle and a temporary restricted passage space corresponding to each of all other moving objects, traveling of the current autonomous driving vehicle. The method does not require installation of a dedicated vehicle passage area, can ensure safe operation of an autonomous driving vehicle in the entire restricted area, and is inexpensive.

A vehicle integrated control device improves ride comfort and prevents the onset of motion sickness. The vehicle integrated control device acquires a target momentum of a control axis related to a driving task of the vehicle and generates a first motion parameter and a second motion parameter different from the first motion parameter that is based on the first motion parameter to optimize a sensitivity index. A limit generation unit generates a motion limit amount of the second motion parameter based on the first motion parameter and an operation range of an actuator, a final target generation unit that corrects the second motion parameter based on the motion limit amount, and an operation amount assignment unit that determines an operation amount of an actuator based on the first motion parameter and the second motion parameter corrected by the final target generation unit.