Volvo Car Corporation

Ford Global Technolgoies, LLC

Haldex Brake Products Aktiebolag

Stefan Solyom

Mattias Brannstrom

Erik Coelingh

Jonas Ekmark

Mattias Brännström

Marcus Nils Gunnar Rothoff

Mattias Bengtsson

Mikael Thor

Fredrik Hans Bruzelius

Johan Hulten

Jacob Svendenius

Oskar Nordin

Marcus Rothoff

Thomas Lyngfelt

Sören Eriksson

Jan-Ola Olsson

Ake Blom

Martin Nordvall

Badr Bin Salamah

Arash Idelchi

Mattias BRÄNNSTRÖM

Björn Eriksson

ÅKe Blom

Magnus Gäfvert

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 method is provided for assisting a driver of a vehicle. The method may include performing a lateral control of the vehicle in an autonomous mode, determining information about a surroundings of the vehicle, checking whether a longitudinal control of the vehicle performed by the driver is appropriate considering the determined information about the surroundings, and, if appropriate, continuing an autonomous mode of the lateral control of the vehicle. A driver assist system is also provided for performing the method.

Method and system for assisting a driver

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

A method and an apparatus are described for adaptive cruise control in a road vehicle, as well as a road vehicle including such an apparatus. One of four control regions is determined and a set of control parameters chosen in dependence of the detected control region. An acceleration command is provided, based on the chosen set of control parameters, using a sliding surface and a control law that ensures convergence to the sliding surface.

Method and apparatus for adaptive cruise control in a road vehicle

A vehicle, vehicle system and method for increasing at least one of safety and comfort during autonomous driving is provided. The vehicle system includes an autonomous drive arrangement with multiple sensors, a vehicle control arrangement and a positioning system. The vehicle system is configured to determine an estimated probability that at least one sensor will become unavailable, or an estimated time/distance ahead until at least one sensor is determined to become unavailable. The vehicle system is further configured to activate at least one countermeasure based on at least one of the estimated probability, the estimated time and the estimated distance.

Vehicle, vehicle system and method for increasing safety and/or comfort during autonomous driving

Provided are a method and apparatus for continuously establishing a boundary for autonomous driving availability, in a vehicle having autonomous driving capabilities and comprising at least one remote sensor for acquiring vehicle surrounding information and at least one vehicle dynamics sensor for determining vehicle dynamics parameters. The method and apparatus include at least one of a positioning arrangement that provides map data with associated information, a route planning arrangement that enables route planning, a vehicle driver monitoring arrangement that provides driver monitoring information, and a real time information acquiring arrangement that acquires at least one of traffic information and weather information. The boundary is calculated based on a planned route and at least one of vehicle surrounding information, vehicle dynamics parameters, driver monitoring information, map data, traffic information and weather information, for the planned route. Changes in the calculated boundary are output to a human machine interface in the vehicle.

Apparatus and method for continuously establishing a boundary for autonomous driving availability and an automotive vehicle comprising such an apparatus

A vehicle, vehicle system and method for increasing at least one of safety and comfort during autonomous driving is provided. The vehicle system includes an autonomous drive arrangement with multiple sensors, and a vehicle control arrangement. The vehicle system is configured to determine an estimated probability that at least one sensor will become unavailable, or an estimated time/distance ahead until at least one sensor is determined to become unavailable. The vehicle system is further configured to activate at least one countermeasure based on at least one of the estimated probability, the estimated time and the estimated distance.

A safety arrangement and method are described for controlling automatic travel of a fully automated vehicle. One or more forward-looking detection systems are provided for detecting objects in a future path of the vehicle. A control unit is configured to determine a detection confidence for the detected objects. The control unit is further operable to, upon low confidence for existence of a detected object, control a brake system of the vehicle to apply a predetermined limited amount of braking until high confidence is obtained for existence or non-existence of the previously detected object. Thereafter the control unit is further operable to apply full braking if high confidence is obtained for existence of the previously detected object and to discontinue braking if high confidence is obtained for non-existence of the previously detected object.

Motor vehicle safety arrangement and method

A method for determining a direction of travel for a following vehicle ensures that the following vehicle follows a path indicative of that of a target vehicle. The target vehicle extends in longitudinal (X) and lateral (Y) directions, the longitudinal direction (X) corresponding to an intended direction of travel of the following vehicle. The method may include determining a measured lateral offset (&#x394;Y) between the following and target vehicles. The method may also include measuring a lateral position change parameter corresponding to an actual performed, ongoing and/or impending lateral position change of the following vehicle, an actual performed, ongoing and/or impending lateral position change of the target vehicle, or a combination thereof. The method may further include determining a lateral offset modification measure (O) using the lateral position change parameter, and using the measured lateral offset (&#x394;Y) and lateral offset modification measure (O) when determining the direction of travel.

Travel direction determination method and system

An apparatus and method are described for lateral control of a host vehicle (F) during travel in a vehicle platoon. The apparatus and method include acquiring a control signal u and a lateral error &#x3b5; relative to a target vehicle (L) of a preceding vehicle (T) travelling in the vehicle platoon, filtering the received lateral error &#x3b5;, filtering the received control signal u, and executing via a processor a control algorithm for actuating lateral control of the host vehicle (F).

Apparatus and method for lateral control of a host vehicle during travel in a vehicle platoon

A method for determining the time to collision between a host vehicle and an oncoming target vehicle, and for determining the necessary host vehicle deceleration for bringing the host vehicle to a standstill at the moment of collision. The method furthermore comprises the steps: determining the position (p) of the host vehicle as a function of time; determining the position (p) of the target vehicle as a function of time; for the moment of collision, as a first condition, setting the position (p) of the host vehicle equal to the position (p) of the target vehicle, and, as a second condition, setting the velocity (v) of the host vehicle to zero; using the positions and the conditions above to solve for the time to collision and the necessary host vehicle deceleration; and choosing the solution for time to collision that is positive and has the largest value.

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Olofstorp, Sweden

Stefan Solyom