Provided is a preceding vehicle determining device including: a signal acquisition unit configured to acquire a signal from an object detection device; a border setting unit configured to set a border of a lane on which the own vehicle is traveling; a determination area setting unit configured to set a preceding vehicle determination area being an area forward of the own vehicle based on at least one piece of information out of vehicle type information, device type information, detection state information, or preceding vehicle information being information on a vehicle set as a preceding vehicle in previous processing, and based on the border set by the border setting unit; and a preceding vehicle determining unit configured to determine whether the another vehicle is to be set as the preceding vehicle based on a position of the another vehicle with respect to the preceding vehicle determination area.

The disclosure relates to the process of ascertaining an input variable of a vehicle actuator using a model-based predictive control. According to one exemplary arrangement, a processor unit is designed to access trajectory information and a state data set, which represents a state of surroundings of a vehicle and/or the state of the vehicle and/or a driving state of the vehicle, by an interface. The processor unit carries out a secondary condition algorithm in order to calculate a secondary condition and an MPC algorithm for a model-based predictive control. By carrying out the secondary condition algorithm, a secondary condition is ascertained for the MPC algorithm on the basis of the trajectory information and on the basis of the state data set. By carrying out the MPC algorithm, an input variable is ascertained for an actuator of the vehicle on the basis of the secondary condition. This is carried out in particular such that in a future predicted trajectory, the vehicle follows the specified trajectory with a specified degree of reliability.

The present disclosure relates to a steering control system for a vehicle, a vehicle comprising such a steering control system and a method for operating such a steering control system for a vehicle. The steering control system comprises a frequency filter unit, a first control unit, and a second control unit. The frequency filter unit comprises a high pass filter and a low pass filter. The frequency filter unit is configured to receive a request for a steering angle and filter the request into a low-pass filtered request and a high-pass filtered request. The first control unit is configured to determine a first controlling torque based on the low-pass filtered request the second control unit is configured to determine a second controlling torque based on the high-pass filtered request. The first control unit is different of the second control unit.

A lane departure prevention device includes a control unit that executes lane keeping control (automatic steering of a steering wheel and/or issuing of a warning) when it is determined that a vehicle may move out of a lane. The control unit withholds execution of the lane keeping control until it is determined that a return-to-control condition is satisfied when it is determined that a driver has gone from showing no intention to move out of the lane to showing an intention to move out of the lane to cross a first lane boundary. The control unit continues, when it is determined that the vehicle is approaching a second white line present in a traveling direction with a speed equal to or faster than a reference value, continues withholding the execution of the lane keeping control even when it is determined that the return-to-control condition is satisfied.

Systems and methods to improve ride comfort for users within a vehicle during operation of the vehicle are disclosed. Exemplary implementations may: generate output signals; determine the current operational information regarding the vehicle; determine a current set of forces operating on one or more of the vehicle and one or more of the users within the vehicle; compare a characteristic of the current set of forces to a comfort threshold level; and responsive to the characteristic breaching the comfort threshold level, effectuate a modification in the operation of the vehicle such that a subsequent change in the characteristic that corresponds to the modification reduces and/or remedies the breach of the comfort threshold level.

A vehicular driving assistance system includes a camera viewing exterior of a vehicle and capturing image data. The system, via processing captured image data as the vehicle travels along a current traffic lane, determines a current lateral position of the vehicle within the current traffic lane and determines a target lateral position of the vehicle within the current traffic lane. The system determines a steering command to guide the vehicle from the current lateral position to the target lateral position and determines a steering angle offset required to maintain the target lateral position within the current traffic lane and stores the determined steering angle offset in nonvolatile memory. After storing the determined steering angle offset and when the vehicle is traveling during a subsequent trip, the system determines a second target lateral position of the vehicle within the current traffic lane and applies the stored steering angle offset.

Disclosed are an apparatus and method for controlling articulation of an articulated vehicle. The apparatus includes a yaw rate calculator configured to calculate a desired yaw rate based on a steering angle and a speed of the articulated vehicle, a first moment generator configured to generate a yaw rate control moment based on the desired yaw rate and an actual yaw rate of the articulated vehicle, a second moment generator configured to generate a hitch damping control moment based on a hitch angular velocity of the articulated vehicle, an adder configured to output a final moment for controlling the articulation of the articulated vehicle by adding the yaw rate control moment and the hitch damping control moment, and an articulation controller configured to control the articulation of the articulated vehicle based on the final moment.

This application relates to a lane edge extraction method and apparatus, an autonomous driving system, a vehicle, and a storage medium. The lane edge extraction method includes the steps of: receiving tracking edge points, about lane edges, of an immediately preceding frame of an edge image sequence; determining observation edge points, about the lane edges, of a current frame of the edge image sequence; continuing and correcting the tracking edge points of the immediately preceding frame based on the observation edge points of the current frame, to obtain temporary tracking edge points of the current frame; fitting a lane edge curve based on the temporary tracking edge points; and excluding outliers from the temporary tracking edge points based on the lane edge curve, to form tracking edge points of the current frame. The method can improve the stability and accuracy of lane edge extraction.

A display control apparatus comprises a receiving unit that receives a steering assist amount in an electric power steering system of a vehicle and a measured value of a yaw rate sensor provided in the vehicle; a sign determination unit that determines a sign of the steering assist amount or a sign of the measured value of the yaw rate sensor received by the receiving unit; and a calculation unit that calculates a display steering assist index value to be displayed on a display device in the vehicle based on the sign determined by the sign determination unit, and the steering assist amount and the measured value of the yaw rate sensor received by the receiving unit.

A computer implemented method for lateral control of a vehicle comprises the following steps carried out by computer hardware components: determining a location error of the vehicle; determining an orientation error of the vehicle; determining a cost function based on the location error and the orientation error using a circular transformation; and processing the cost function in a model predictive controller to control the vehicle laterally.