A vehicle compelling force detection apparatus includes one or more processors configured to: obtain, from a first sensor, a road surface disturbance force received from a road surface on which the vehicle drives via a wheel of the vehicle, and store the road surface disturbance force in one or more memories, the first sensor being disposed below a damper supporting the wheel in a direction of gravity; obtain, from a second sensor, a body disturbance force applied to the vehicle, and store the body disturbance force in the one or more memories, the second sensor being disposed above the damper in the direction of gravity; and detect the compelling force due to the wind disturbance to which the vehicle is subjected, based on the body disturbance force applied to the vehicle and the road surface disturbance force, which are stored in the one or more memories.

Sound signals are received by one or more microphones disposed at an ADV. The sound signals are analyzed to extract a feature of a road on which the ADV is driving. A road condition of the road is determined based on the extracted feature. A path planning and speed planning is performed to generate a trajectory based on the road condition. The ADV is controlled to drive autonomously according to the generated trajectory.

A sensor device for detecting moisture on a roadway of a vehicle includes a housing having at least one flat housing area. The housing is constructed as a resonant body and is provided for mounting in a wheel arch of the vehicle. At least one structure-borne sound sensor is arranged in the housing area of the housing and at least one connecting means is assigned to the housing for producing a connection between the housing and the wheel arch. The at least one connecting means is constructed to be vibration damping and constructed for receiving a decoupling of the sensor device and the wheel arch. The at least one connecting means is constructed for producing a connection between the housing and the wheel arch and the structure-borne sound sensor is configured to detect only structure-borne sound signals caused by impacting moisture droplets on the housing.

A system and a method for measuring a road surface input load for a vehicle, may include a plurality of strain gauges mounted on a surface of a hub bearing in the vehicle; a storage connected to the plurality of strain gauges and configured to store a deep learning artificial neural network model which learns road surface input load data of the vehicle according to the pieces of output data of the plurality of strain gauges; and a processor connected to the storage and the plurality of strain gauges and configured to perform calculation which is performed in each layer of the deep learning artificial neural network model stored in the storage and derive the road surface input load data of the vehicle according to the pieces of output data of the plurality of strain gauges.

A method for determining the lean angle of a two-wheeler in which the axle load on at least one wheel is ascertained and the lean angle is calculated as a function of the axle load.

Sound signals are received by one or more microphones disposed at an ADV. The sound signals are analyzed to extract a feature of a road on which the ADV is driving. A road condition of the road is determined based on the extracted feature. A path planning and speed planning is performed to generate a trajectory based on the road condition. The ADV is controlled to drive autonomously according to the generated trajectory.

A method for determining the lean angle of a two-wheeler in which the axle load on at least one wheel is ascertained and the lean angle is calculated as a function of the axle load.

A vehicle compelling force detection apparatus includes one or more processors configured to: obtain, from a first sensor, a road surface disturbance force received from a road surface on which the vehicle drives via a wheel of the vehicle, and store the road surface disturbance force in one or more memories, the first sensor being disposed below a damper supporting the wheel in a direction of gravity; obtain, from a second sensor, a body disturbance force applied to the vehicle, and store the body disturbance force in the one or more memories, the second sensor being disposed above the damper in the direction of gravity; and detect the compelling force due to the wind disturbance to which the vehicle is subjected, based on the body disturbance force applied to the vehicle and the road surface disturbance force, which are stored in the one or more memories.