A method of maintaining stability of a motor vehicle having a first axle, a second axle, and a steering actuator configured to steer the first axle includes determining localization and heading of the vehicle. The method also includes determining a current side-slip angle of the second axle and setting a maximum side-slip angle of the second axle using the friction coefficient at the vehicle and road surface interface. The method additionally includes predicting when the maximum side-slip angle would be exceeded using the localization, heading, and determined current side-slip angle as inputs to a linear computational model. The method also includes updating the model using the prediction of when the maximum side-slip angle would be exceeded to determine impending instability of the vehicle. Furthermore, the method includes correcting for the impending instability using the updated model and the maximum side-slip angle via modifying a steering angle of the first axle.

An implement head transportation includes an implement head, a traction unit, and a trailer. The traction unit is configured to receive and support the implement head for operation of the implement head. The trailer is configured to receive and support the implement head for transportation of the implement head between locations. The trailer includes a frame including information related to an implement placement location on the frame. The traction unit includes a controller operable to sense data from the trailer related to the implement placement location on the frame, and generate a guide signal. The guide signal guides the traction unit relative to the trailer to position the implement head on the implement placement location of the frame when transferring the implement head from the traction unit to the trailer.

The present invention prevents occurrence of abnormal noise and swing of a vehicle in mitigating braking force of a steered wheel while reducing a steering load at the time of stationary steering to reduce a burden of a steering device and reducing stress accumulation due to stationary steering to reduce burdens of a tire, a suspension device and the steering device. The present invention includes a stop braking force control unit 202 that individually controls braking forces of steered wheels 51 and 52 and non-steered wheels 53 and 54 at the time of deceleration of the vehicle, and a pre-detection unit 203 that detects steering in a stopped state of the vehicle in advance, in which the stop braking force control unit executes, when the steering in a stopped state of the vehicle is detected in advance by the pre-detection unit, braking force mitigation control to decrease the braking forces of the steered wheels to be lower than the braking forces at the time of normal braking.

A vehicle driving support device sets a steering force of a reference value as an intervention steering force to set a target steering force and executes lane deviation suppression control, when a straight lane deviation condition or a curve inner lane deviation condition is satisfied while a pre-intervention in-phase condition is not satisfied. The pre-intervention in-phase condition is a condition that a steering operation force that is equal to or larger than a predetermined value and that is applied in a direction of returning an own vehicle that has deviated from a lane to the lane is being input to the own vehicle by a driver of the own vehicle.

A control method for a self-driving vehicle provided with an engine as a driving source, comprising: determining whether or not coast stop is executed in accordance with required driving force of the vehicle, the coast stop being for automatically stopping the engine during the vehicle traveling at speed not more than predetermined vehicle speed; setting the required driving force so that an intervehicular distance between the host vehicle and a preceding vehicle becomes closer to a predetermined distance under presence of the preceding vehicle in front of the host vehicle; predicting a behavior of the preceding vehicle from a situation in front of the preceding vehicle under presence of the preceding vehicle; and prohibiting release of the coast stop for the engine during an automatic stop when future deceleration of the preceding vehicle is predicted in response to an expansion of the intervehicular distance.

The present disclosure relates to a method and system for integrated path planning and path tracking control of an autonomous vehicle. The method includes: obtaining five input control variables and eleven system state variables of an autonomous vehicle at current time; constructing a vehicle path planning-tracking integrated state model according to the obtained variables at the current time; enveloping external contours of two autonomous vehicles using elliptical envelope curves to determine elliptical vehicle envelope curves of the two autonomous vehicles, respectively; determining time to collision (TTC) between the vehicles according to elliptical vehicle envelope curves and vehicle driving states; establishing an objective function of a model prediction controller (MPC) according to the model; and solving the objective function based on the TTC, and determining input control variables to the MPC at the next time. Autonomous vehicle collision avoidance can be achieved according to the present disclosure.

A control system includes a controller configured to determine a target speed between a first target position of a haul vehicle relative to a harvester and a second target position of the haul vehicle relative to the harvester based on a flow rate of agricultural product through a conveyor of the harvester. The haul vehicle is coupled to a storage compartment, an outlet of the conveyor is aligned with a first unloading point within the storage compartment while the haul vehicle is positioned at the first target position, and the outlet of the conveyor is aligned with a second unloading point within the storage compartment while the haul vehicle is positioned at the second target position. Furthermore, the controller is configured to output a control signal indicative of instructions to direct the haul vehicle from the first target position to the second target position at the target speed.

An integrated chassis control system includes a first sensor configured to sense a first vehicle driving in a lane adjacent to a lane in which an own vehicle is driving and to sense behavior information of the first vehicle, a second sensor configured to sense a variation in behavior of the own vehicle, a first determinator configured to determine a degree of influence of a side wind, which is predicted to occur due to the first vehicle, based on the behavior information of the first vehicle, a second determinator configured to determine a variance in abnormal behavior of the own vehicle based on information sensed by the second sensor, a first controller configured to perform a semi-active chassis system control, and a second controller configured to perform an active chassis system control.

Aspects of the disclosure relate to a vehicle having an autonomous driving mode and a manual driving mode. The vehicle may include a steering system having one or more processors configured to control the orientation of the one or more wheels based on control commands. The vehicle may also include an autonomous driving control system configured to control the vehicle in an autonomous driving mode by generating the control commands and to send the control commands to the steering system. In addition, the steering system may thermally derate the steering system based on first temperature information for the steering system when the vehicle is operating in a manual drive mode, and the autonomous driving control system may thermally derate the steering system based on second temperature information for the steering system when the vehicle is operating in the autonomous driving mode.

A vehicle control system includes a controller circuit in communication with a steering sensor and one or more perception sensors. The steering sensor is configured to detect a steering torque of a steering wheel of a host vehicle. The one or more perception sensors are configured to detect an environment proximate the host vehicle. The controller circuit is configured to determine when an operator of the host vehicle requests a take-over from fully automated control of the host vehicle based on the steering sensor. The controller circuit classifies the take-over request based on the steering sensor.