Volvo Car Corporation

Mattias Brannstrom

Julia Nilsson

Erik Coelingh

Mohammad Ali

Jonas Nilsson

Stefan Solyom

Joakim Lin Sorstedt

Mats Jonasson

Peter Harda

Jonas Ekmark

Jonatan Silvlin

Rickard Nilsson

Henrik Johannesson Lind

Lotta Jakobsson

Mikael Thor

Jonas Lars Zakarias Jansson

Peter Karlsson

Method for controlling a vehicle, comprising: identifying an upcoming curve and determining its properties; determining current vehicle speed, v, estimating friction, &#x3bc;, between a tire of the vehicle and the road; estimating maximum allowable vehicle speed, v, when entering the curve based on the properties, speed and friction; if the current vehicle speed is higher than the estimated maximum allowable vehicle speed, determining that a friction measurement is required; if distance, d, between the vehicle and a curve entrance is higher than a predetermined threshold distance, d, and if a braking action is detected, performing a friction measurement during the braking action to determine current friction, &#x3bc;; if a distance between the vehicle and the curve entrance is lower than the predetermined threshold distance, performing a friction measurement to determine a current friction; and determining a maximum allowable vehicle speed vbased on the curve radius, speed and friction.

Method and system for controlling a vehicle tire-to-road friction estimation

This disclosure relates to an apparatus and a method for road vehicle driver assistance through which it is possible to determine critical obstacles that are within a predetermined proximity of a calculated maneuver corridor of the vehicle, representative of the full vehicle extension, and determination of corresponding critical points of the vehicle calculated to come into the predetermined proximity of the identified obstacles when traversing the calculated maneuver corridor. Separate from the bird's eye image of the vehicle and its surrounding is displayed at least one image acquired from a determined best camera angle and position to navigate critical obstacles. This provides a driver of an associated road vehicle with a clear overview of a current situation and provides immediate access to detailed views of one or more critical areas to navigate.

Appartus and method for road vehicle driver assistance

A method and system for evaluating inter-vehicle traffic gaps and time instances to perform a lane change maneuver is described. The method includes determining a set of trajectories which respectively constitutes an approximation of the feasible motion of the ego vehicle, evaluating the set of trajectories on the available inter-vehicle traffic gaps and time instances to perform the lane change maneuver over a prediction horizon to select a subset of feasible inter-vehicle traffic gaps and time instances to perform the lane change maneuver and to establish a corresponding set of lane change trajectories, evaluating the set of lane change trajectories on the subset of feasible inter-vehicle traffic gaps and time instances from a safety critical perspective, and selecting a preferred lane change trajectory, with corresponding inter-vehicle traffic gap and time instance, to perform the lane change maneuver.

Method and system for evaluating inter-vehicle traffic gaps and time instances to perform a lane change maneuver

The present disclosure relates to a method of trajectory planning for yielding maneuvers for an ego vehicle (E). The method may include determining a longitudinal safety corridor for the ego vehicle (E) that allows the ego vehicle (E) to longitudinally position itself between two or more surrounding objects, determining a longitudinal trajectory for the ego vehicle (E) respecting bounds given by the longitudinal safety corridor, determining a lateral safety corridor for the ego vehicle (E) using the longitudinal trajectory to determine upper and lower bounds on a lateral position of the ego vehicle (E), and determining a lateral trajectory for the ego vehicle (E) respecting bounds given by the lateral safety corridor. The present disclosure also relates to an Advanced Driver Assistance System arranged to perform the method and a vehicle (E) comprising such a system.

Method of trajectory planning for yielding maneuvers

A vehicle, a method and a vehicle observability enhancing system are provided. The system is configured to determine if a host vehicle is positioned within selectively one of an observable zone (A) of at least one detected vehicle, or an unsafe unobservable zone (B) of the at least one detected vehicle. If the host vehicle is positioned within the observable zone (A), the system is arranged to generate a control signal indicative of maintaining the host vehicle in the observable zone (A) of the at least one detected vehicle for at least a predefined time duration before the host vehicle is allowed to enter an unsafe unobservable zone (B) of the at least one detected vehicle.

Vehicle observability enhancing system, vehicle comprising such system and a method for increasing vehicle observability

A driving aid arrangement configured to control a longitudinal velocity of a host vehicle, the arrangement including a driving environment monitoring unit, a road friction estimation unit configured to provide a road friction estimate, and a velocity control unit configured to control the velocity of the host vehicle on the basis of the monitored driving environment and the road friction estimate. The velocity control unit is further configured to control the velocity of the host vehicle on the basis of a pre-set road friction value, corresponding to a high road friction value, if the road friction estimation unit is unable to provide the road friction estimate. The driving aid arrangement further comprises an enhanced braking system arranged to provide an emergency braking of the vehicle upon detection of a crash threat event.

Driving aid arrangement, a vehicle and a method of controlling a longitudinal velocity of a vehicle

A gap selection method performed by a gap selection system for a vehicle. The vehicle travels on a road having a first lane and a second lane adjacent to the first. The vehicle travels in the first lane, a first surrounding vehicle travels in the second lane, a second surrounding vehicle travels in the second lane ahead of the first surrounding vehicle with a first gap between the first and second surrounding vehicles. The method includes determining a first minimum safety margin between the first surrounding vehicle and the vehicle, determining a second minimum safety margin between the second surrounding vehicle and the vehicle, evaluating the first gap by determining a minimum limit for a longitudinal position of the vehicle, determining a maximum limit for a longitudinal position of the vehicle, and determining a lane change appropriateness value of the first gap utilizing the minimum limit and the maximum limit.

Gap selection method and system

A vehicle sensor diagnosis system and method, and a vehicle including such a system are provided. The vehicle sensor diagnosis system is configured to predict upcoming vehicle surrounding conditions along at least a section of a host vehicle route based on database information on the host vehicle surroundings along the section and information on a current host vehicle surrounding, estimate an expected level of sensor performance for the route section based on the prediction, assess the level of sensor performance detected during host vehicle travel along the host vehicle route section, assess if a difference between the estimated level of sensor performance and the detected level of sensor performance for the host vehicle route section exceeds a first threshold difference and, if so, initiate a diagnose result communication.

Vehicle sensor diagnosis system and method and a vehicle comprising such a system

A vehicle, a method and a vehicle brake-control-system are provided. The host vehicle comprises a steering wheel, a vehicle brake system, at least one sensor arranged to monitor a sensor monitoring area of a host vehicle surrounding and an autonomous operating arrangement which is arranged to control steering and velocity of the host vehicle in an autonomous operating mode at least partly based on information received from the at least one sensor. The vehicle brake-control-system is arranged to determine if the steering wheel is manually operated when the vehicle is operating in the autonomous driving mode, and if so control the vehicle brake system to perform braking of the host vehicle.

Vehicle brake-control-system, vehicle comprising a brake-control-system and a method for controlling a vehicle brake system

A method and arrangement for determining safe vehicle trajectories for a vehicle equipped with sensors for monitoring a surrounding environment, taking into account sensing limitations, as well as a vehicle including such an arrangement. The method includes detecting observable obstacles, detecting unobservable areas, adding virtual obstacles in unobservable areas, associating each observable obstacle and each virtual obstacle with one or more hypothetical events and assigning an occurrence probability to each combination of obstacle and one or more events, and determining safe vehicle trajectories based on both observable obstacles and virtual obstacles and the occurrence probability of each combination of obstacle and one or more events.

Method and arrangement for determining safe vehicle trajectories

An object detecting arrangement is configured to detect objects in a field surrounding a vehicle hosting the arrangement. The arrangement comprises an imaging unit configured to capture images of the field. The imaging unit is arranged at the vehicle such that the field is in a direction of at least one of a side of the vehicle, and a rear of the vehicle. The arrangement further comprises a processing unit configured to detect objects in the field. The processing unit is configured to determine an object detecting capability. In addition, the arrangement comprises an illumination unit configured to illuminate the field when the object detecting capability is lower than a first predetermined threshold value. The present disclosure also relates to a lane keeping arrangement, a positioning arrangement and a method of detecting objects.

Object detecting arrangement

A lane change control arrangement, vehicle, and method are described. The lane change control arrangement is arranged to adjust a host vehicle velocity in accordance with a first velocity profile to expand a detectable zone to cover a previously undetectable zone of a second road lane, detect whether a vehicle is present in the previously undetectable zone, determine that a lane change is possible, or determine that a lane change is unsuitable using the second road lane and issue a control signal to the vehicle drive arrangement to adjust the host vehicle velocity until a safety distance is established between the host vehicle and the detected vehicle, and issue a control signal to the vehicle drive arrangement to perform the lane change.

Lane change control arrangement, a vehicle comprising such arrangement and a method for controlling lane changes

A unit for improving positioning accuracy of an autonomous vehicle driving on a road includes a first computation unit configured to compute a first position of the vehicle at a time Tusing data from at least an inertial measurement unit (IMU); a second computation unit configured to compute a second position of the vehicle at the time Tusing data from at least one external sensor and a map; a comparison unit configured to compute a position difference between the computed first and second positions; a correction unit configured to correct an error parameter of the IMU, wherein the error parameter is used for correcting a third position of the vehicle computed by the first computation unit at a time Twith the computed position difference at time T, if the second computation unit is unable to compute a fourth position of the vehicle at the time T

Unit and method for improving positioning accuracy

The present disclosure relates to a vehicle adapted for autonomous driving, such as an autonomous vehicle, comprising an assisting object detecting system for detecting obstructing objects to the vehicle. The object detecting system is adapted to detect an object by comparing a reference value of a selected parameter with a measured value of the selected parameter. The present disclosure also relates to a method and a computer program product for use in the vehicle.

Vehicle adapted for autonomous driving and a method for detecting obstructing objects

The present disclosure relates to a child transport device for a child. The child transport device is transformable between a vehicle configuration adapted for attachment in a vehicle, and a carrying configuration adapted for carrying the child against a body of a person. The child transport device comprises a main body, which comprises a safety harness adapted to attach the child to the main body. In the vehicle configuration, a front portion of the main body is adapted to be supported by a first support element, and a rear portion of the main body is adapted to be supported by a second support element, the main body being adapted to be tensioned, such that it when tensioned bridges a distance between the first and second support elements. The disclosure further relates to a method of attaching the child transport device to a vehicle.

Growing community of inventors

Gothenburg, Sweden

Mattias Brannstrom