A set of driving scenarios are determined for different types of vehicles. Each driving scenario corresponds to a specific movement of a particular type of autonomous vehicles. For each of the driving scenarios of each type of autonomous vehicles, a set of driving statistics is obtained, including driving parameters used to control and drive the vehicle, a driving condition at the point in time, and a sideslip caused by the driving parameters and the driving condition under the driving scenario. A driving scenario/sideslip mapping table or database is constructed. The scenario/sideslip mapping table includes a number of mapping entries. Each mapping entry maps a particular driving scenario to a sideslip that is calculated based on the driving statistics. The scenario/sideslip mapping table is utilized subsequently to predict the sideslip under the similar driving environment, such that the driving planning and control can be compensated.

A control method for an electronic limited slip differential of a vehicle includes: determining by a controller, whether the vehicle is in an understeer state or an oversteer state when the vehicle is turning; and performing driving force movement control by the controller. In particular, when the vehicle is in the understeer state and an actual driving force of an inner wheel of the vehicle is greater than an allowable driving force of inner wheel, the controller increases the control torque of the electronic limited slip differential and transfers the inner wheel driving force to the outer wheel of the vehicle.

A method for lateral dynamic stabilization of a single-track motor vehicle during cornering; on the left side of the vehicle, the motor vehicle including at least one first nozzle, which is mounted at a first position located between the wheels, and through which a medium situated in a first container may escape into the surroundings of the motor vehicle, with a speed component pointed in the outer direction of the left side of the vehicle; and on the right side of the vehicle, the motor vehicle including at least one second nozzle, which is mounted at a second position located between the wheels, and through which a medium situated in a second container may escape into the surroundings of the motor vehicle, with a speed component pointed in the outer direction of the right side of the vehicle; where a presence of an unstable driving condition in a lateral direction of the vehicle is detected, andas a function of this, with the aid of an actuator system, on only one side of the vehicle, the medium is caused to escape through the at least one nozzle mounted on this side of the vehicle, in order to stabilize the motor vehicle.

A lane departure prevention system includes a controller configured to control a braking force of vehicle wheels such that a lane departure prevention yaw moment is applied to a vehicle. The controller determines whether there is a likelihood that the vehicle enters a spinning state based on at least one of a difference between an actual yaw rate and a normative yaw rate of the vehicle calculated based on a steering angle, a vehicle speed, and the lane departure prevention yaw moment, and a degree of braking slip of a turning inside wheel when the lane departure prevention yaw moment is a yaw moment for preventing departure of the vehicle from a lane to a turning outside, and applies a spin prevention yaw moment to the vehicle when it is determined that there is a likelihood that the vehicle will enter the spinning state.

An automotive vehicle includes an actuator configured to control vehicle steering, a sensor configured to detect a yaw rate of the vehicle, and a controller. The controller is configured to estimate a yaw rate and lateral velocity of the vehicle via a vehicle dynamics model based on a measured longitudinal velocity of the vehicle, calculated road wheel angles of the vehicle, and estimated tire slip angles of the vehicle. The controller is configured to receive a measured yaw rate from the sensor, and to calculate a difference between the measured yaw rate and the estimated yaw rate. The controller is configured to apply a model correction to the vehicle dynamics model using a PID controller based on the difference, and to estimate a vehicle position based on the estimated lateral velocity and the measured longitudinal velocity. The controller is configured to automatically control the actuator based on the vehicle position.

The Dynamic Vehicle Separation System (DVSS) according to the present application allows properly equipped vehicles in traffic to maintain safe and optimal separation distances (i.e., following distances), which are automatically and continually calculated based on numerous criteria. Vehicles are equipped with Dynamic Vehicle Separation Controllers (DVSCs) that communicate with each other to maintain proper separation distances among the vehicles.

A system for monitoring vehicle dynamics and detecting adverse events during operation is presented. Position sensors attached to a vehicle are configured to identify a vehicle orientation (heading) as well as the vehicle's direction of travel (trajectory). A system controller connected to these position sensors can detect the difference between these two measurements. When the difference between these two measurements exceeds a safety threshold, it can be an indication of a slip event. A slip event can be caused by compromised traction or stability and may lead to a loss of vehicle control. The system controller can be configured to monitor various vehicle dynamics to detect these slip events. The system controller may be configured to track geolocations of slip events to create a database of historical slip events for determining location-based risk factors and prevention of future events.

A lane departure prevention system includes a controller configured to control a braking force of vehicle wheels such that a lane departure prevention yaw moment is applied to a vehicle. The controller determines whether there is a likelihood that the vehicle enters a spinning state based on at least one of a difference between an actual yaw rate and a normative yaw rate of the vehicle calculated based on a steering angle, a vehicle speed, and the lane departure prevention yaw moment, and a degree of braking slip of a turning inside wheel when the lane departure prevention yaw moment is a yaw moment for preventing departure of the vehicle from a lane to a turning outside, and applies a spin prevention yaw moment to the vehicle when it is determined that there is a likelihood that the vehicle will enter the spinning state.

A method and a device for estimating coefficients of friction of a wheel of a vehicle with respect to an underlying surface including decomposing a supplied trajectory into individual curve segments, estimating a lateral force and a slip angle for a front axle of the vehicle, assigning respectively estimated lateral forces and slip angles relating to the associated individual curve segments and storing these value pairs in a memory, estimating a tire characteristic curve for each of the curve segments based on the value pairs stored for the respective curve segment in the memory, estimating a coefficient of friction for each curve segment based on the respectively estimated tire characteristic curve, and storing the estimated coefficients of friction relating to the respectively associated curve segments in a coefficient of friction map.

A vehicle braking force control apparatus of the disclosure executes a slip rate reduction control to reduce a slip rate of any of wheels of a vehicle becoming equal to or greater than a predetermined slip rate threshold by automatically changing braking force applied to one or more of the wheels. The apparatus uses a first slip rate threshold as the predetermined slip rate threshold during a normal acceleration-and-deceleration control and a normal steering control. The apparatus uses a second slip rate threshold during a driving assist control. The second slip rate is set to a value smaller than the first slip rate threshold and near and smaller than the slip rate, at which a friction coefficient between the wheel and a surface of a road on which the vehicle moves is maximum.