A travel control device for a vehicle executes a self-driving control based on traveling environment information on which the vehicle travels and traveling information on the vehicle. In the device, a traveling environment information acquisition unit acquires the traveling environment information. A traveling information detection unit detects the traveling information. An unstable behavior detector detects an unstable behavior in one or both of a rolling direction and a yaw direction of the vehicle. A steering wheel holding state detector detects a state in which a driver holds a steering wheel. The first unstable behavior reducer reduces the detected unstable behavior by correcting a steering angle. A second unstable behavior reducer reduces the detected unstable behavior by selecting a predetermined wheel and applying a braking force to the wheel. A vehicle behavior controller freely operates the unstable behavior reducers according to detection results.

A method of reconstructing a detected faulty signal. A pitch sensor fault is detected by a processor. A signal of the detected faulty pitch sensor is reconstructed using indirect sensor data. The reconstructed signal is output to a controller to maintain stability.

A method of reconstructing a detected faulty signal. A roll sensor fault is detected by a processor. A signal of the detected faulty roll sensor is reconstructed using indirect sensor data. The reconstructed signal is output to a controller to maintain stability.

A system for and method of determining angular position (e.g. pitch) of a vehicle. In accordance with an embodiment, a first angular rate of rotation of the vehicle about a first axis of rotation is detected using a first angular rate sensor mounted to the vehicle. A second angular rate of rotation of the vehicle about a second axis of rotation is detected using a second angular rate sensor mounted to the vehicle. The second axis of rotation is substantially orthogonal to the first axis of rotation. The angular position of the vehicle is determined based on a ratio of the first angular rate of rotation of the vehicle and the second angular rate of rotation of the vehicle.

A method and system for estimating surface roughness of a ground for an off-road vehicle to control steering of a vehicle, an implement, or both, comprises detecting motion data of an off-road vehicle traversing a field or work site during a sampling interval. A first sensor is adapted to detect pitch data of the off-road vehicle for the sampling interval to obtain a pitch acceleration. A second sensor is adapted to detect roll data of the off-road vehicle for the sampling interval to obtain a roll acceleration. An electronic data processor or surface roughness index module determines or estimates a surface roughness index based on the detected motion data, pitch data and roll data for the sampling interval. The surface roughness index can be displayed on the graphical display to a user or operator of the vehicle.

A traction control system for a motor vehicle includes a controller configured to initiate a traction control intervention at one or more vehicle wheels. The controller is configured to inhibit the traction control intervention in dependence on a reduced wheel load condition in said one or more wheels. The reduced wheel load condition is identified based on at least one of a signal indicative of vehicle pitch and a signal indicative of vehicle heave.

The present invention relates to a method for estimating the side slip angle (β.sup.stim) of a four-wheeled vehicle, comprising: —detecting signals representing the vehicle longitudinal acceleration (Ax), lateral acceleration (Ay), vertical acceleration (Az), yaw rate (formula I), roll rate (formula II), wheels speeds (V.sub.FL, V.sub.FR, V.sub.RL, V.sub.RR); —pre-treating (1) said signals in order to correct measurement errors and/or noises, so to obtain corrected measurements of at least the longitudinal acceleration (a.sub.x), the lateral acceleration (a.sub.y), the yaw rate (formula I) and the wheels speeds (ν.sub.FL, ν.sub.FR, ν.sub.RL, ν.sub.RR), —determining (2) an estimated vehicle longitudinal speed (V.sub.x.sup.stim) on the basis of at least one of the corrected measurements of the wheel speeds (ν.sub.FL, ν.sub.FR, ν.sub.RL, ν.sub.RR); —determining a yaw acceleration (formula III) from the signal representing the yaw rate (formula I); —solving (25) a time-depending parametrical non-linear filter, such as a Kalman filter or a Luenberger filter, describing the vehicle longitudinal and lateral speeds (formula IV) and longitudinal and lateral accelerations (formula V) as a function of the corrected measurements of the longitudinal acceleration (a.sub.x), of the lateral acceleration (a.sub.y), of the yaw rate (formula I) and the estimated vehicle longitudinal speed (V.sub.x.sup.stim) and of a filter parameter (F) depending from depending from at least one of the vehicle yaw acceleration (formula III), yaw rate (formula I) and lateral acceleration (ay) which adds a negative component to the lateral acceleration (formula VI) determined by the filter itself, said filter parameter (F) being selected such that said negative component reaches a maximum value when it is determined that the vehicle is moving straight on the basis of said at least one of the vehicle yaw acceleration (formula III), yaw rate (formula I) and lateral acceleration (ay); —determining the vehicle estimated side slip angle (β.sup.stim) from said longitudinal and lateral vehicle speeds (formula IV) determined by solving the non-linear filter. The present invention further relates to a computer program implementing said method, a control unit having said computer program loaded, and a vehicle comprising said control unit.

A method is provided for assisting a driver of a single-track motor vehicle during a drive in order to drive through a bend safely. In the method, at least one current driving state variable and driver-specific driving dynamics variables are compared with an approaching driving situation and, if a danger threshold value is reached or exceeded, a warning signal is output. The current speed of the motor vehicle is sensed by a speed sensor and transmitted to a computer-and memory unit as the current driving state variable. Both previously reached inclined positions of the single-track motor vehicle and previously reached brake pressures and/or brake pressure gradients are stored by the computer-and-memory unit as the driver-specific driving dynamics variables. In order to evaluate the approaching driving situation, a bend radius of a curve to be driven through next is determined via a navigation unit and is transmitted to the computer-and memory unit.

Provided is a method of generating and controlling a driving path for an autonomous vehicle, the method including generating a driving path that matches a driving intention on the basis of sensing data acquired from a sensing module of the autonomous vehicle, determining steering angle information corresponding to the generated driving path, and controlling a steering angle of the autonomous vehicle.

According to one embodiment, a method, computer system, and computer program product for preventing tipping of a load during transport by a vehicle is provided. The present invention may include retrieving a tipping point of the load, based on a center of gravity of the load, a speed of the vehicle, and a turning radius of the vehicle, wherein the tipping point is based on a simulation utilizing finite element analysis; and responsive to determining that the center of gravity of the load is within a threshold distance of the tipping point, taking a corrective action which may include controlling the speed or turning radius of the vehicle.