The disclosure relates to a method for generating a reference trajectory within a lane for a vehicle. The method comprises receiving at least one vehicle current state parameter describing a current state of the vehicle (S11). The current state of the vehicle comprises at least a current position of the vehicle. Furthermore, a destination parameter describing a destination to be reached by the vehicle (S12), and at least one route parameter describing a route for reaching the destination (S13) are received. Moreover, the method comprises estimating a power loss being caused when traveling from the current position of the vehicle to the destination (S14). The reference trajectory within the lane is determined such that it minimizes the power loss and leads to the destination (S15). Additionally, a method for operating a vehicle is presented. According to this method, a reference trajectory is generated in accordance with the above method (S21) and at least one control signal is provided for controlling a motion of the vehicle along the reference trajectory (S22). Furthermore, a data processing apparatus, a vehicle and a computer-readable medium are presented.

The disclosure relates to a method for generating a reference trajectory within a lane for a vehicle. The method comprises receiving at least one vehicle current state parameter describing a current state of the vehicle (S11). The current state of the vehicle comprises at least a current position of the vehicle. Furthermore, a destination parameter describing a destination to be reached by the vehicle (S12), and at least one route parameter describing a route for reaching the destination (S13) are received. Moreover, the method comprises estimating a power loss being caused when traveling from the current position of the vehicle to the destination (S14). The reference trajectory within the lane is determined such that it minimizes the power loss and leads to the destination (S15). Additionally, a method for operating a vehicle is presented. According to this method, a reference trajectory is generated in accordance with the above method (S21) and at least one control signal is provided for controlling a motion of the vehicle along the reference trajectory (S22). Furthermore, a data processing apparatus, a vehicle and a computer-readable medium are presented.

A vehicle sideslip estimation system includes sensors mounted on a vehicle and a kinematic model receiving signals from the sensors to estimate a lateral velocity of the vehicle. A compensated acceleration calculator calculates a compensated lateral acceleration as a measure of conditions that result in a deviation of a measured lateral acceleration. A lateral acceleration calculator determines, based on the compensated lateral acceleration and the measured lateral acceleration, if a lateral acceleration error is larger than a predefined threshold. A filter corrects the estimated lateral velocity of the vehicle when the lateral acceleration error is larger than the predefined threshold. A velocity output register registers the estimated lateral velocity of the vehicle when the lateral acceleration error is smaller than the predefined threshold, and a sideslip calculator calculates a sideslip angle of the vehicle in real time from the registered lateral velocity of the vehicle and a vehicle longitudinal velocity.

A vehicle sideslip estimation system includes sensors mounted on a vehicle and a kinematic model receiving signals from the sensors to estimate a lateral velocity of the vehicle. A compensated acceleration calculator calculates a compensated lateral acceleration as a measure of conditions that result in a deviation of a measured lateral acceleration. A lateral acceleration calculator determines, based on the compensated lateral acceleration and the measured lateral acceleration, if a lateral acceleration error is larger than a predefined threshold. A filter corrects the estimated lateral velocity of the vehicle when the lateral acceleration error is larger than the predefined threshold. A velocity output register registers the estimated lateral velocity of the vehicle when the lateral acceleration error is smaller than the predefined threshold, and a sideslip calculator calculates a sideslip angle of the vehicle in real time from the registered lateral velocity of the vehicle and a vehicle longitudinal velocity.

A motorcycle includes a pair of left and right front forks, a headlight, cover members (side cowls and light covers), and camera units. A front wheel is rotatably attached to the pair of left and right front forks. The headlight irradiates a forward side. The cover members each having an internal space are disposed at least laterally outside the pair of left and right front forks in a front view. The camera units detect the forward side by acquiring visible light which is one kind of electromagnetic waves (by acquiring images). In a front view, the camera units are disposed below the headlight and laterally outside the pair of left and right front forks. The camera units are disposed in the internal spaces of the cover members.

Methods and systems implemented in a vehicle involve obtaining a single camera image from a camera arranged on the vehicle. The image indicates a heading angle ψ.sub.0 between a vehicle heading x and a tangent line that is tangential to road curvature of a road on which the vehicle is traveling and also indicates a perpendicular distance y.sub.0 from a center of the vehicle to the tangent line. An exemplary method includes obtaining two or more inputs from two or more vehicle sensors, and estimating kinematic states of the vehicle based on applying a Kalman filter to the single camera image and the two or more inputs to solve kinematic equations. The kinematic states include roll angle and pitch angle of the vehicle.

A vehicle control device includes: a target traveling path setting unit that sets a target traveling path of an own vehicle; a reference position setting unit that sets a reference position of the own vehicle for specifying a position of the own vehicle with respect to the target traveling path; and a control unit that controls a steering assist amount of a steering wheel, based on a positional deviation being a deviation between the target traveling path set by the target traveling path setting unit and the reference position of the own vehicle set by the reference position setting unit. The reference position setting unit changes the reference position according to a vehicle speed.

Dangerous driving events may be reported by detecting an occurrence of a dangerous event relating to the operation of a vehicle. A notification message of the dangerous event may be generated involving a time of occurrence of the dangerous event, a location of the dangerous event, and an event type of a plurality of event types for the dangerous event. The notification message may then be transmitted to communicate the occurrence dangerous driving event and information related to the dangerous driving event.

Dangerous driving events may be reported by detecting an occurrence of a dangerous event relating to the operation of a vehicle. A notification message of the dangerous event may be generated involving a time of occurrence of the dangerous event, a location of the dangerous event, and an event type of a plurality of event types for the dangerous event. The notification message may then be transmitted to communicate the occurrence dangerous driving event and information related to the dangerous driving event.

A vehicle assist server performs a vehicle assist for an object vehicle using a previously generated assist content, based on object vehicle data including a traveling state of the object vehicle and position information about the object vehicle on a map. The vehicle assist server includes a prevalence degree estimation unit, a prevalence degree determination unit, and a registration unit.