Volvo Car Corporation

Zenuity Ab

Mohammad Ali

Mattias Brannstrom

Jonas Nilsson

Julia Nilsson

Joakim Lin Sorstedt

Claes Olsson

Per Landfors

Jonatan Silvlin

Magnus Brandin

Mattias Bengtsson

Ivo Batkovic

Mario Zanon

Paolo Falcone

Joakim Lin-Sörstedt

Mattias BRÄNNSTRÖM

Jonas Sjöberg

The present disclosure relates to a method for trajectory planning for a vehicle. The method includes obtaining a reference trajectory over a finite time horizon, where the reference trajectory includes a speed reference over time for the finite time horizon. Further, the method includes determining a back-up stop trajectory within the finite time horizon. The back-up stop trajectory has a starting state and terminating in a final state, where the final state is defined as a safe state. The method further includes forming a terminal set of states within the finite time horizon based on at least one predefined constraint, wherein the terminal set of states includes a terminal state that corresponds to the starting state for the back-up stop trajectory. Moreover, the method includes generating a nominal trajectory for at least a portion of the finite time horizon based on a constraint controlled technique.

Safe trajectory tracking in uncertain environments

A vehicle and an adaptive cruise control system, ACC, is provided. The ACC system includes a control unit configured to control a steering angle of said vehicle in relation to detected road lanes and/or road markings. The ACC system further includes a steering wheel arranged to allow the provision of manual steering input to the steering system of the vehicle and a steering angle sensor. The steering system is configured to identify a steering wheel jerk, performed as a clockwise- and counter-clockwise actuation of the steering wheel within a predetermined time range and to steer the host vehicle from a first, current, road lane to a second road lane based on the identified jerk as indicated by the steering angle sensor.

Adaptive cruise control system and vehicle comprising an adaptive cruise control system

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 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, 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

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 method and arrangement are described for manoeuvre generation for automated driving on a one-way road of a vehicle (e) hosting the arrangement, the host vehicle (e) further including one or more advanced driver assistance systems. A collision free reference trajectory for longitudinal and lateral movement of the host vehicle (e) is determined repeatedly, with a fix time interval, for allowing the host vehicle (e) to retain a desired velocity and maintain the host vehicle (e) in a preferred lane utilizing model predictive control and quadratic program formulation. A control scheme where the structured environment of the one-way road is exploited in order to linearly formulate collision avoidance constraints is utilized. Manoeuvre generation is performed through solving the quadratic program. The one or more advanced driver assistance systems are controlled to perform the generated manoeuvre.

Manoeuver generation for automated driving

A vehicle yaw stability control method and a vehicle yaw stability control apparatus are provided. The yaw rate {dot over (&#x3c8;)} of the vehicle is measured. A first reference yaw rate {dot over (&#x3c8;)}is set. A difference yaw rate &#x394;{dot over (&#x3c8;)} is set. Stabilizing braking intervention is triggered when a value of the difference yaw rate &#x394;{dot over (&#x3c8;)} exceeds limits defined by difference yaw rate threshold values &#x394;{dot over (&#x3c8;)}, &#x394;{dot over (&#x3c8;)}. Information regarding the shape of the road ahead of the vehicle is acquired. The reliability of the driver steering input &#x3b4; is evaluated upon stabilizing braking intervention being triggered. In case the driver steering input &#x3b4; is deemed unreliable a replacement reference yaw rate {dot over (&#x3c8;)}is set based on the acquired road shape and a replacement difference yaw rate &#x394;{dot over (&#x3c8;)}is set whereupon stabilizing braking intervention is performed based on the replacement difference yaw rate &#x394;{dot over (&#x3c8;)}.

Growing community of inventors

Angered, Sweden

Mohammad Ali