Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. In particular, a method may include receiving first sensor data from a first sensor disposed on a vehicle, the first sensor data associated with a first sensor modality, and receiving second sensor data from a second sensor disposed on the vehicle, the second sensor data associated with a second sensor modality different than the first sensor modality. The method may further include generating fused sensor data representing at least a portion of the first sensor data and the second sensor data, generating a trajectory for the vehicle based in part on the fused sensor data, and controlling the vehicle based in part on the trajectory.

A vehicle may include an authority tracker to grant and/or limit authority to provide guidance to the vehicle. The authority tracker may store a state in a memory identifying an actor that currently has the authority. An actor requesting to have authority to provide guidance to the vehicle may transmit a control message to the authority tracker which may, in turn, authorize or deny the request based on a policy. The authority tracker may periodically, and/or in response to a request, broadcast a state message identifying the actor that currently has authority, as recorded in the memory.

Systems and methods for dynamic control of remotely operated vehicles may include various types of sensors to detect environment, surface, and/or friction conditions proximate a vehicle. Based on the detected environment, surface, and/or friction conditions, a maximum acceleration for safe operation of the vehicle may be determined. In addition, various dynamic control limits or ranges for the vehicle may be determined based on the maximum acceleration, and the vehicle may be controlled or instructed to operate within such dynamic limits. Moreover, various notifications, alerts, and/or feedback may be presented or output for the teleoperator at the teleoperator station in order to increase environment awareness and promote safe driving behaviors.

Disclosed are a platooning control apparatus and control method, the apparatus including a communication unit obtaining performance information and sensing information of a controller for platooning and a control unit granting at least vehicle among plurality of vehicles platooning control authority based on the performance information and in response to determination that a vehicle in which the control unit is provided is the vehicle to be granted platooning control authority, generating a driving route on the sensing information and controlling the platooning based on the driving route.

Systems and methods to account for latency associated with remote driving applications may include a vehicle having an imaging device and a teleoperator station in communication with each other via a network. Imaging data that is captured by the imaging device may be transmitted to the teleoperator station for presentation to a teleoperator. In order to account for latency in the transmission, receipt, processing, and presentation of the imaging data, one or more visualizations of the vehicle, with various visual characteristics, may be rendered within or overlaid onto the imaging data, in order to facilitate safe and reliable remote operation of the vehicle by the teleoperator at the teleoperator station.

A vehicle includes a sensor configured to provide sensor data indicative of an environment outside the vehicle; a transceiver configured to communicate with a server; and a controller configured to, responsive to the sensor data indicative of a predefined trigger event, send a request for remote guidance to the server, receive an instruction from the server indicative of a first trajectory having a first priority and a second trajectory having a second priority, and perform a driving maneuver to implement one of the first trajectory or the second trajectory.

A vehicle includes a sensor configured to provide sensor data indicative of an environment outside the vehicle; one or more transceivers configured to communicate with a server; and one or more controllers configured to, responsive to the sensor data indicative of a predefined trigger event, send a request for remote guidance to the server via the transceiver, receive an instruction including a plurality of waypoints from the server, determine a first section of a trajectory along a route defined by the waypoints, and perform a driving maneuver to implement the trajectory.

A method for controlling a mobile vehicle comprises the steps of selecting a control mode for autonomous driving of the mobile vehicle and transmitting information on the selected control mode to the mobile vehicle. The control mode includes a first mode and a second mode of which a restriction on a driving safety is stricter than that of the first mode. The step of selecting the control mode comprises the steps of determining whether a remote support for the mobile vehicle is required, and selecting the first mode as the control mode when it is determined that the remote support is not required whereas selecting the second mode as the control mode when it is determined that the remote support is required.

The present disclosure provides to an apparatus for managing travel of a vehicle having an autonomous travel function. The apparatus executes the following steps. The apparatus sequentially acquires sensor information from a recognition sensor mounted on the vehicle. The apparatus sequentially generates prediction information showing a position of an object at a future time point based on the sensor information acquired sequentially. The apparatus transmits a remote support request to a remote support operator. The apparatus receives a remote support given in response to the remote support request by the remote support operator. The apparatus makes the vehicle autonomously travel in accordance with the remote support in response to confirming that an actual position of an object obtained from sensor information and a predicted position of an object obtained from prediction information correspond.

An aircraft is disclosed including a ground manoeuvre control unit for automatically controlling ground manoeuvres. The aircraft has control mechanisms such as a rudder, nose wheel steering, spoilers, wheel brakes and the like for controlling motion of the aircraft. The control unit is configured to receive lateral input demands concerning lateral motion of the aircraft (e.g. heading control) and longitudinal input demands concerning longitudinal motion of the aircraft (e.g. deceleration). The control unit passes on the input demands as output demands to the relevant control mechanisms of the aircraft with, if so required, a modification which prioritises one of the lateral input demand and longitudinal input demand based on the risk of a lateral runway excursion and the risk of a longitudinal runway excursion.