A system for determining vehicle direction includes an active wheel speed sensor (aWSS), an exciter ring for inducing a change in a signal from the aWSS and a controller. The controller receives a first series of signals from the aWSS, compares them to an array of predefined signals and determines the direction of travel based on the first series of signals matching the array. The controller receives a second series of signals and determines the exciter ring has an anomaly in response to at least one signal in the second series of signals having a first variance. The controller updates the array of predefined signals to include a representation of the first variance to create an array of updated signals. The controller determines the direction of travel based on a subsequent series of signals matching one of the array of predefined signals and the array of updated signals.

Aspects and implementations of the present disclosure relate to modeling of positional uncertainty of moving objects using precomputed polygons, for example, for the purposes of computing autonomous vehicle (AV) trajectories. An example method includes: receiving, by a data processing system of an AV, data descriptive of an agent state of an object; generating a polygon representative of the agent state; identifying extreme vertices of the polygon along a longitudinal axis parallel to a heading direction of the object or along a lateral axis orthogonal to the heading direction; and applying, based on the extreme vertices, at least one expansion transformation to the polygon along the longitudinal axis or the lateral axis to generate a precomputed polygon.

Examples relating to vehicle velocity calculation using radar technology are described. An example method performed by a computing system may involve, while a vehicle is moving on a road, receiving, from two or more radar sensors mounted at different locations on the vehicle, radar data representative of an environment of the vehicle. The method may involve, based on the data, detecting at least one scatterer in the environment. The method may involve making a determination of a likelihood that the at least one scatterer is stationary with respect to the vehicle. The method may involve, based on the determination being that the likelihood is at least equal to a predefined confidence threshold, calculating a velocity of the vehicle based on the data from the sensors. The calculated velocity may include an angular and linear velocity. Further, the method may involve controlling the vehicle based on the calculated velocity.

A method for carrying out a start-up process of an at least semi-automated vehicle. The method includes: recognizing at least one unsuccessful start-up process using a first set of drive parameters; reporting the unsuccessful start-up process to a control system; receiving changed driving-related boundary conditions from the control system; ascertaining at least one changed drive parameter from the changed driving-related boundary conditions; and repeating the start-up process at least once, using the at least one changed drive parameter.

A computer includes a processor and a memory storing instructions executable by the processor to receive data indicating a lane change by a first vehicle that is towing a second vehicle, the data including data indicating a direction that first wheels of the first vehicle are turning while the first vehicle is performing the lane change; and during the lane change, instruct a steering system of the second vehicle to turn second wheels of the second vehicle in a same direction as the first wheels.

An example operation includes one or more of initially determining, via one or more sensors on a transport, that the transport is approaching a one-way road in a wrong direction based on a slowing down of the transport and a movement of the transport toward the one-way road, notifying, via the one or more sensors, one or more occupants of the transport about the approaching, and in response to the transport continuing to approach in the wrong direction, slowing the transport, by a computer associated with the transport, to not permit entry into the one-way road.

In one embodiment, static-state curvature error compensation control logic for autonomous driving vehicles (ADV) receives planning and control data associated with the ADV, including a planned steering angle and a planned speed. A steering command is generated based on a current steering angle and the planned steering angle of the ADV. A throttle command is generated based on the planned speed in view of a current speed of the ADV. A curvature error is calculated based on a difference between the current steering angle and the planned steering angle. The steering command is issued to the ADV while withholding the throttle command, in response to determining that the curvature error is greater than a predetermined curvature threshold, such that the steering angle of the ADV is adjusted in view of the planned steering angle without acceleration.

A parking assist system comprises a route generating unit for generating a generating position for generating a parking route for parking a vehicle in a determined parking space and for generating a travel route for the vehicle to travel to the generating position; and a control information generating unit for generating control information for the vehicle to travel along the travel route by controlling a driving system 80 for causing the vehicle to travel, and for outputting the generated control information to a vehicle controlling unit for controlling the driving system, wherein: the route generating unit determines a generating position such that at least a portion of the back end of the vehicle will be positioned within a parking space, and, after the vehicle has arrived at the generating position, generates, at the generating position, a parking route for the vehicle to park in the parking space.

A movable carrier auxiliary system includes at least one optical image capturing system disposed on a movable carrier, at least one warning module, and at least one displaying device. The optical image capturing system includes an image capturing module and an operation module, and has at least one lens group including at least two lenses having refractive power. The image capturing module captures and produces an environmental image surrounding the movable carrier. The operation module electrically connected to the image capturing module detects at least one lane marking in the environmental image to generate a detecting signal. The warning module electrically connected to the operation module receives the detecting signal to determine whether a moving direction of the movable carrier deviates from a lane, and generate a warning signal when the moving direction deviates from the lane. The displaying device electrically connected to the warning module displays the warning signal.

A method controls a first vehicle in respect of an oncoming second vehicle. The method determines a turning situation of the first vehicle, in which an expected first trajectory of the first vehicle crosses an expected second trajectory of the second vehicle, and controls the first vehicle in such a way that, during the turning situation, a predetermined distance between the vehicles is maintained. The control includes an influencing of the direction of travel of the first vehicle.