A method and apparatus for defining a model to determine a corrected trajectory of a mobile device or vehicle and a method and apparatus for determined a corrected trajectory using a defined model are provided. The model for determining a corrected trajectory includes accessing ground truth location data for a selected pathway, determining a GNSS pathway of a mobile device or vehicle, determining an IMU pathway of a mobile device or vehicle, and calculating an aggregated displacement trajectory. The apparatus for defining the model includes a communication interface configured to receive a first and second pathway, a memory configured to store a model and ground truth location data, and a processor to train the model.

Provided is a navigation system for a leader vehicle leading follower vehicles, including: the leader vehicle, configured to transmit, real-time movement data to follower vehicles; and, the follower vehicles, each comprising: a signal receiver for receiving the data from the leader vehicle; sensors configured to detect at least one maneuverability condition; a memory; a vehicle maneuver controller; a distance sensor; and a processor configured to: determine a route for navigating the local follower vehicle from an initial location; determine a preferred range of distances from the vehicle in front of the respective follower vehicle that the respective follower vehicle should stay within; determine a set of active maneuvering instructions for the respective follower vehicle based on at least a portion of the data received from the guiding vehicle; determine a lag in control commands; and, execute the set of active maneuvering instructions in the respective follower vehicle.

A method for ascertaining a highly accurate piece of yaw rate information for controlling a vehicle is provided. The method includes ascertaining a first yaw rate estimated value of the vehicle based on a fusion of sensor data of an inertial sensor, a GNSS sensor, a wheel velocity sensor and/or a steering angle sensor; ascertaining a second yaw rate estimated value of the vehicle by an evaluation of sensor data of a camera assigned to the vehicle, which optically detects the surroundings of the vehicle; carrying out a correction of the first yaw rate estimated value with the aid of the second yaw rate estimated value to ascertain a corrected yaw rate estimated value; and outputting the corrected yaw rate estimated value as a piece of yaw rate information to generate a control signal for controlling the vehicle.

The disclosed embodiments include a onboard driver distraction determination system. The determination system includes a onboard sensing and computing system(s), which includes inertial sensor(s), internal sensor(s), and external sensor(s). The onboard system samples data from the sensor(s) during a driving session to determine steering activity metrics and driver behavior. A steering activity metric is a representation of the steering inputs by the driver during the driving session. Driver behavior is a representation of how distracted the driver is during the driving session. By performing the above mentioned steps, the system can provide an analysis of driver distraction and optionally, take control of the vehicle to avoid aberrant behavior.

A vehicle and a system and method of controlling the vehicle. The system includes a sensor and a processor. The sensor obtains a first estimate of a force on a tire of the vehicle based on dynamics of the vehicle. The processor is configured to obtain a second estimate of the force on the tire using a tire model, determine an estimate of a coefficient of friction between the tire and the road from the first estimate of the force and the second estimate of the force, and control the vehicle using the estimate of the coefficient of friction.

A system includes a primary control module, a stability status module, and a supervisory control module. The primary control module is configured to determine at least one control action for at least one of an electronic limited slip differential and an aerodynamic actuator of a vehicle based on a driver command. The stability status module is configured to determine whether at least one component of the vehicle is stable or unstable based on an input from a sensor on the vehicle. The at least one component includes at least one of a vehicle body, a front axle, a rear axle, front wheels, and rear wheels. The supervisory control module is configured to adjust the at least one control action when the at least one component is unstable.

An inertial measurement unit including a support structure having rectangular cuboid configuration, a first sensor configured to detect a first angular rate wherein the first sensor is affixed to a first side of the support structure, a second sensor configured to detect a second angular rate wherein the second sensor is affixed to a second side of the support structure, a third sensor configured to detect a third angular rate wherein the third sensor is affixed to a third side of the support structure, a processor configured to generate an aggregate angular rate in response to the first angular rate, the second angular rate and the third angular rate, and a vehicle controller configured to control a vehicle in response to the aggregate angular rate.

A vehicle includes receiving signals from a plurality of satellites; obtaining position information based on the received signal; detecting a driving speed and yaw rate; obtaining dead reckoning information based on position information about a position of a vehicle recognized in a previous cycle and the received detection information; predicting the position information based on the obtained dead reckoning information; obtaining a value of Euclidean distance based on the position information about the position of the vehicle recognized in the previous cycle and the obtained position information; generating a first outlier filter based on the value of the Euclidean distance; obtaining a value of Mahalanobis distance based on the obtained position information and the predicted position information; generating a second outlier filter based on the value of the Mahalanobis distance; recognizing a current position of the vehicle by fusing information passing through the first outlier filter and information passing through the second outlier filter; and outputting information about the current position of the recognized vehicle as an image or a sound.

A device for stabilizing a vehicle after a collision against a lateral carriageway boundary, includes a lane recognition system, with which information relating to the course of the lane is determined or detected. A collision detection unit identifies a collision of the vehicle against the lateral lane carriageway boundary on the basis of signals from at least one sensor or on the basis of a driving state variable. The device also includes a steering actuator for steering a steering system and a brake actuator for controlling one or more wheel brakes. A target path determination unit determines a target path for the vehicle on the basis of the course of the lane determined or detected before or at the time of the collision. A controller guides the vehicle onto the target path and/or stabilizes the vehicle via a steering intervention and/or individual wheel brake interventions.

Systems and methods use cameras to provide autonomous navigation features. In one implementation, a method for navigating a user vehicle may include acquiring, using at least one image capture device, a plurality of images of an area in a vicinity of the user vehicle; determining from the plurality of images a first lane constraint on a first side of the user vehicle and a second lane constraint on a second side of the user vehicle opposite to the first side of the user vehicle; enabling the user vehicle to pass a target vehicle if the target vehicle is determined to be in a lane different from the lane in which the user vehicle is traveling; and causing the user vehicle to abort the pass before completion of the pass, if the target vehicle is determined to be entering the lane in which the user vehicle is traveling.