An automotive electronic dynamics control system for an automated motor-vehicle. The electronic dynamics control system is designed to implement two distinct Model Predictive Control (MPC)-based Trajectory Planners comprising a Longitudinal Trajectory Planner designed to compute a planned longitudinal trajectory for the automated motor-vehicle; and a Lateral Trajectory Planner designed to compute a planned lateral trajectory for the automated motor-vehicle. The electronic dynamics control system is further designed to cause the planned longitudinal trajectory to be computed before the planned lateral trajectory.

A moving object that travels from a current position toward a target position includes a first section candidate searching unit configured to search for a plurality of first section candidates in which the moving object is capable of traveling from the current position, a second section candidate searching unit configured to, for each ending point of the first section candidates, search for a plurality of second section candidates in which the moving object is capable of traveling from the ending points of the first section candidates, an obstacle position recognition unit configured to detect a position of an obstacle around the moving object, and a route decision unit configured to decide a first section and a second section used as a traveling route of the moving object from the plurality of first section candidates and the plurality of second section candidates.

An apparatus of controlling regenerative braking for battery charging according to driving information may include a driving information generation device that generates the driving information of a vehicle, a controller that is configured to control regenerative braking of the vehicle according to the generated driving information, and a charging device that controls charging of a battery of the vehicle according to the controlled regenerative braking.

A method for scoring driving behavior using vehicle inputs and outputs is implemented in an electronic device. The method includes obtaining historical input data and output data of a vehicle; establishing an output regression model according to the historical output data; determining a boundary of the output regression model; establishing an input regression model according to the historical input data; determining a boundary of the input regression model by calculating boundary limits of the input regression model; obtaining real-time input data and output data of the vehicle; calculating a first ratio of data points outside the boundary of the input regression model to total data points in the real-time input data, and a second ratio of data points outside the boundary of the output regression model to total data points in the real-time output data; scoring driving behavior of a driver according to the first ratio and the second ratio.

An on-board unit as a direction change detection device is configured to acquire a steered angle and a mileage of a vehicle at a time point at which a right turn event related to a right turn of the vehicle occurs when the right turn event occurs, and detect the right turn on condition that a maximum value of the steered angle is equal to or less than a first threshold value, and the mileage is equal to or greater than a second threshold value.

A vehicle control apparatus includes a circuitry capable of controlling a vehicle. The circuitry is configured to estimate a traffic risk score, a travel risk score, and a driving ability score. The circuitry is configured to change a first threshold, with which automated vehicle attitude stability control is initiated, so as to promptly execute the automated vehicle attitude stability control when a travel risk is not avoided by the driving ability, change a second threshold, with which automatic entry avoidance control is initiated, so as to promptly execute the automatic entry avoidance control when the traffic risk is not avoided by the driving ability, and control the vehicle to travel on a target travel route when the traffic risk and the travel risk are not avoided by the driving ability or when the driving ability is lower than a specified level.

This disclosure describes a radar system configured to estimate a yaw-rate and an over-the-ground (OTG) velocity of extended targets in real-time based on raw radar detections. This disclosure further describes techniques for determining instantaneous values of lateral velocity, longitudinal velocity, and yaw rate of points of a rigid body in a radar field-of-view (FOV) of the radar system.

A control apparatus for a vehicle includes: a target yaw rate calculator; a primary limit yaw rate calculator; a yaw rate comparator; a secondary limit yaw rate calculator; and a vertical load controller. The target yaw rate calculator calculates a target yaw rate of the vehicle. The primary limit yaw rate calculator calculates a primary limit yaw rate on a basis of a vertical load on a wheel. The yaw rate comparator compares the target yaw rate with the primary limit yaw rate. The secondary limit yaw rate calculator calculates a secondary limit yaw rate in a case where a distribution of the vertical load on the wheel is changed in a case where the target yaw rate exceeds the primary limit yaw rate. The vertical load controller changes the vertical load on a basis of the secondary limit yaw rate.

The steering controller calculates a target steering angle for causing the own vehicle to travel along the target course acquired by the traveling road information acquirer. The braking/driving force controller calculates a target yaw moment for correcting the positional displacement of the own vehicle from the target course. The control ratio setter sets a control ratio of cooperative control of steering control and yaw moment control based on the deviation amount of a lateral position of the own vehicle from the target course. The control ratio is set so that when the positional displacement of the own vehicle from the target course is relatively small, the ratio at which the steering control occupies is reduced, and the yaw moment control is dominant, and when the positional displacement of the own vehicle from the target course is relatively large, the ratio at which the steering control occupies is increased.

Systems and methods are provided herein for operating a vehicle in a vehicle yaw mode. In response to initiating vehicle yaw mode, the system engages an open-loop mode, that provides open-loop forward torque to the outer wheels of the vehicle and open-loop backward torque to the inner wheels of the vehicle until a sufficient number of wheels are slipping. In response to determining that a sufficient number of wheels are slipping, engaging a closed-loop mode. While operating in the closed-loop mode, one or both of the wheel rotation and vehicle yaw rate are monitored to adjust the torques provided to the wheels of the vehicle to control the vehicle yaw rate.