A method for controlling an electrically actuatable steering actuator for a motor vehicle, wherein a check is carried out in order to determine whether a vehicle is stuck and a special control mode of the steering actuator is activated if a predefined condition is present, wherein the steering actuator is designed to set a steering angle in a manner independent of the driver and the steering actuator sets a steering angle profile in the special control mode.

Method for determining steering deadband and eliminating starting drag in a vehicle, having at least one steered wheel mechanically connected to an actuator, includes, from a first initial position, wherein the actuator is in a middle position and is biased toward a second direction, the actuator is moved toward a first direction, the first direction being opposite to the second direction, until a movement of the steered wheel is detected in a first deadband detection position of the actuator. The actual position of the actuator in the first deadband detection position is stored as a first deadband value ?.sub.DB1. After reaching the first deadband detection position, the actuator is moved further in the first direction by a predetermined ?.sub.ESD1 first starting drag elimination angle to cause a predetermined movement of the at least one steering wheel and further mechanical parts connected thereto arriving to a first starting drag elimination position.

A method for generating a signal for transferring a partly or highly automated vehicle into a safe system state at a target site. First, a need to transfer the vehicle into a safe system state is ascertained. A vehicle state is then determined, the vehicle state encompassing the current vehicle position. At least one target site is ascertained. Travel trajectories are ascertained from the current vehicle position to the at least one target site. The travel trajectories are related. One of the travel trajectories is selected based on the rating that has been carried out. A signal is generated on the basis of the selected travel trajectory.

A method for generating a signal for transferring a partly or highly automated vehicle into a safe system state at a target site. First, a need to transfer the vehicle into a safe system state is ascertained. A vehicle state is then determined, the vehicle state encompassing the current vehicle position. At least one target site is ascertained. Travel trajectories are ascertained from the current vehicle position to the at least one target site. The travel trajectories are related. One of the travel trajectories is selected based on the rating that has been carried out. A signal is generated on the basis of the selected travel trajectory.

A vehicle traveling control apparatus includes an obtaining unit, a detector, and a controller. The obtaining unit obtains traveling environment information. The traveling environment information includes at least lane line information of a lane along which an own vehicle travels and preceding vehicle information. The detector detects traveling information of the own vehicle. The controller performs a steering control on a basis of the traveling environment information and the traveling information. When the obtaining unit obtains only the lane line information and when the obtaining unit obtains both the lane line information and the preceding vehicle information, the controller performs the steering control on a basis of the lane line information.

A vehicle traveling control apparatus includes an obtaining unit, a detector, and a controller. The obtaining unit obtains traveling environment information. The traveling environment information includes at least lane line information of a lane along which an own vehicle travels and preceding vehicle information. The detector detects traveling information of the own vehicle. The controller performs a steering control on a basis of the traveling environment information and the traveling information. When the obtaining unit obtains only the lane line information and when the obtaining unit obtains both the lane line information and the preceding vehicle information, the controller performs the steering control on a basis of the lane line information.

A parking assistance apparatus for a vehicle, and including a camera configured to photograph surroundings of the vehicle; an interface configured to receive sensor information from the vehicle; a display configured to display a graphic image about an automatic parking function of the vehicle; and a processor configured to initiate the automatic parking function by controlling the vehicle to travel to a target parking position, detect a traveling resistance of the vehicle from the sensor information while the vehicle is traveling to the target parking position, determine a factor causing the traveling resistance, continue controlling the vehicle to travel to the target parking position when the detected traveling resistance is less than a predetermined resistance, and change the controlling of the vehicle to travel to the target parking position to offset the factor causing the traveling resistance, when the detected traveling resistance is equal to or greater than the predetermined resistance.

A vehicle safety detecting ring includes a ring body, at lease one detector, a touching area and an alarm device. The ring body is configured to mounted on a steering wheel. The at least one detector is located inside the ring body and configured to detect information of driver. The touching area is connected with the at least one detector in the ring body to transmit the information of driver to the at least one detector. The alarm connects with the at least one detector and is configured to issue an alarm when the at least one detector detects an abnormal signal.

A medical apparatus is provided. According to an example, the medical apparatus may include a gantry, a plurality of movable wheels disposed at a bottom of the gantry, and a movement controller; where each of the movable wheels comprises a hub and a plurality of driven wheels disposed at the periphery of the hub, an axis of each of the driven wheels and an axis of the hub forming an included angle and rotation of the hub driving rotation of the driven wheels, and the movement controller configured to control a moving direction and a moving speed of the gantry by controlling rotation of the plurality of the movable wheels.

A current state of a vehicle can be identified. At least a minimum acceleration capability of the vehicle is determined. A desired acceleration profile to follow is determined based at least in part on the minimum acceleration capability. An acceleration of the vehicle is controlled based at least in part on the desired acceleration profile.