A vehicle and a control method thereof may increase a shooting angle of a camera mounted on the vehicle to photograph without limitation of the shooting angle. The method of controlling a vehicle including at least one camera, the control method including: adjusting a direction of a vehicle body to adjust a shooting direction of the at least one camera to a target direction thereof; and controlling the at least one camera to photograph in the adjusted shooting direction.

Provided is a driving support apparatus including: a surrounding sensor configured to acquire surrounding information on another vehicle present in front of a vehicle and dividing lines extending in front of the vehicle; and a control unit configured to: execute adaptive cruise control (ACC) of, when a preceding vehicle is determined to be present based on the surrounding information, executing acceleration control and deceleration control such that an inter-vehicle distance to the preceding vehicle matches a predetermined target inter-vehicle distance which becomes longer as a vehicle speed increases; and lengthen, when the ACC is started or the ACC is being executed in a case in which a vehicle height is increased to be higher than the normal height by vehicle height adjustment, a target-inter-vehicle-distance-when-stopped, which is the target inter-vehicle distance of when the vehicle is stopped, as compared with a case in which the vehicle height is the normal height.

A sensor fusion system and method are disclosed. One or more processors are operable to receive a plurality of object detection measurements from a plurality of sensors. Each of the plurality of object detection measurements are associated with a potential object detection track. A plurality of sensor confidence values associated with each of the plurality of sensors are received. A track confidence value is determined for each of the potential object detection tracks based on the received plurality of object detection measurements and the received plurality of sensor confidence values. An object detection for a potential object detection track that has a determined track confidence value meeting a predetermined detection threshold is then determined, or confirmed, and stored in a memory for subsequent use, and is relatively unaffected by a measurement from a sensor that has a field of view that omits or is occluded with respect to the given object detection track.

A method to control, while driving along a curve, a road vehicle with a variable stiffness and with rear steering wheels. The method comprises the steps of: determining an actual attitude angle of the road vehicle; establishing a desired attitude angle; determining an actual yaw rate of the road vehicle; establishing a desired yaw rate; and changing, in a simultaneous and coordinated manner, the steering angle of the rear wheels and the distribution of the stiffness of the connection of the four wheels to the frame depending on a difference between the actual attitude angle and the desired attitude angle and depending on a difference between the actual yaw rate and the desired yaw rate.

A method to control, while driving along a curve, a road vehicle with a variable stiffness and with rear steering wheels. The method comprises the steps of: determining an actual attitude angle of the road vehicle; establishing a desired attitude angle; determining an actual yaw rate of the road vehicle; establishing a desired yaw rate; and changing, in a simultaneous and coordinated manner, the steering angle of the rear wheels and the distribution of the stiffness of the connection of the four wheels to the frame depending on a difference between the actual attitude angle and the desired attitude angle and depending on a difference between the actual yaw rate and the desired yaw rate.

A system and method for actively compensating excessive noise, vibration, and harshness (NVH) in a vehicle front suspension is provided. The method includes sensing a vibration in the vehicle front suspension; generating an input signal representing the vibration in the vehicle front suspension; filtering the input signal using a bandpass filter; and calculating a compensation signal using a proportional-integral-derivative (PID) controller. The method also includes generating a compensation torque, based on the compensation signal, by an electric power steering (EPS) system motor, with the motor coupled to the vehicle front suspension. Method steps for enabling and disabling the active compensation system are also provided. The active compensation is enabled in response to a turn-on criteria being satisfied. The turn-on criteria may include suspension vibration above a threshold, and the suspension vibration being not caused by driver input. The active compensation is disabled in response to a turn-off criteria being satisfied

A system and method for actively compensating excessive noise, vibration, and harshness (NVH) in a vehicle front suspension is provided. The method includes sensing a vibration in the vehicle front suspension; generating an input signal representing the vibration in the vehicle front suspension; filtering the input signal using a bandpass filter; and calculating a compensation signal using a proportional-integral-derivative (PID) controller. The method also includes generating a compensation torque, based on the compensation signal, by an electric power steering (EPS) system motor, with the motor coupled to the vehicle front suspension. Method steps for enabling and disabling the active compensation system are also provided. The active compensation is enabled in response to a turn-on criteria being satisfied. The turn-on criteria may include suspension vibration above a threshold, and the suspension vibration being not caused by driver input. The active compensation is disabled in response to a turn-off criteria being satisfied

The vehicle control device of the present invention acquires characteristics of a road condition in front of a traveling vehicle based on external information; acquires vehicle behavior control variables for controlling the behavior of the vehicle based on estimated state variables of the vehicle that are obtained based on the characteristics, and control variables concerning speed of the vehicle based on the external information; acquires trajectory tracking control variables for causing the vehicle to track the target trajectory based on the target trajectory on which the vehicle travels that are obtained based on the characteristics and the estimated state variables; and outputs the control commands for controlling the suspension device, steering device, and braking and driving device based on the vehicle behavior control variables and the trajectory tracking control variables. This improves travel stability of the vehicle on a road surface on which an irregularity such as ruts exists.

The vehicle control device of the present invention acquires characteristics of a road condition in front of a traveling vehicle based on external information; acquires vehicle behavior control variables for controlling the behavior of the vehicle based on estimated state variables of the vehicle that are obtained based on the characteristics, and control variables concerning speed of the vehicle based on the external information; acquires trajectory tracking control variables for causing the vehicle to track the target trajectory based on the target trajectory on which the vehicle travels that are obtained based on the characteristics and the estimated state variables; and outputs the control commands for controlling the suspension device, steering device, and braking and driving device based on the vehicle behavior control variables and the trajectory tracking control variables. This improves travel stability of the vehicle on a road surface on which an irregularity such as ruts exists.

The present disclosure relates to systems and methods for identifying a wheel slip condition. In one implementation, a processor may receive a plurality of image frames acquired by an image capture device of a vehicle. The processor may also determine based on analysis of the images one or more indicators of a motion of the vehicle; and determine a predicted wheel rotation corresponding to the motion of the vehicle. The processor may further receive sensor outputs indicative of measured wheel rotation associated with a wheel; and compare the predicted wheel rotation to the measured wheel rotation for the wheel. The processor may additionally detect a wheel slip condition wheel based on a discrepancy between the predicted wheel rotation and the measured wheel rotation; and initiate at least one navigational action in response to the detected wheel slip condition associated with the wheel.