The present invention relates to the field of vehicles, in particular to a vehicle slip regulation method and apparatus, an electronic device and a medium. The vehicle slip regulation method comprises the following steps: determining a pavement type of a vehicle driving pavement in response to a vehicle acceleration slip regulation event; determining an overall target acceleration of a vehicle according to the determined pavement type, the speed of a non-driving wheel and the slip time of a driving wheel; and performing vehicle slip regulation according to the overall target acceleration. The method does not need to determine wheel adhesion coefficient of a vehicle according to coefficients such as vehicle weight and road slope, can perform slip regulation by calculating overall target accelerations under different pavements, and has strong practicability and robustness and good acceleration slip regulation effect.

An apparatus and a method for controlling motion of a vehicle to improve turning motion performance are provided. The processor determines a riding position of a user, receives information about a steering angle of the vehicle, and outputs a vehicle control signal with regard to turning motion performance according to at least one of a phase difference between a yaw rate and lateral acceleration or a lateral slip angle with respect to the riding position, based on the received steering angle. A controller controls the vehicle in accordance with the vehicle control signal. The apparatus provides a passenger of the vehicle with optimal turning motion performance.

Techniques are described for using variables associated with vehicle wheels (e.g., linear velocity at a wheel and orientation of the wheel) to estimate velocity of a vehicle during a turn maneuver. In examples of the disclosure, in association with one or more wheels, a wheel orientation during the maneuver and a linear speed during the maneuver may be determined, and well as a yaw rate (e.g., from an inertial measurement unit, gyroscope, etc.) of the vehicle. Examples of the present disclosure include, based on the variables associated with the wheel(s) and the yaw rate associated with the turn maneuver, estimating a vehicle velocity, which may be used by various downstream components, such as to determine or update a pose of a vehicle as part of a localization operation.

Techniques for using a set of non-steering variables to estimate an angle of a wheel are described. For example, a yaw rate, a linear velocity of a wheel, and vehicle dimensions (e.g., offset between the wheel and a turn-center reference line), can be used to estimate the angle of the wheel. Among other things, estimating angles based on non-steering variables may provide redundancy (e.g., when determined in parallel with steering-based command angles or other commanded angles) and/or may be used to validate commanded angles based on steering components.

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.

An information processing apparatus acquires vehicle state information for each of a plurality of vehicles. The information processing apparatus estimates road surface state information of a road surface on which each of the vehicles has traveled, based on the acquired vehicle state information for each of the vehicles. The information processing apparatus estimates the road surface state information by inputting the acquired vehicle state information to a trained model that outputs the road surface state information in a case where the vehicle state information is input and that has been trained in advance based on training data in which the vehicle state information and the road surface state information are associated with each other.

A system for determining vehicle direction includes an active wheel speed sensor (aWSS), an exciter ring for inducing a change in a signal from the aWSS and a controller. The controller receives a first series of signals from the aWSS, compares them to an array of predefined signals and determines the direction of travel based on the first series of signals matching the array. The controller receives a second series of signals and determines the exciter ring has an anomaly in response to at least one signal in the second series of signals having a first variance. The controller updates the array of predefined signals to include a representation of the first variance to create an array of updated signals. The controller determines the direction of travel based on a subsequent series of signals matching one of the array of predefined signals and the array of updated signals.

Provided is a sensing axis variable wheel speed sensor apparatus for an autonomous vehicle, and more particularly, a sensing axis variable wheel speed sensor apparatus for an autonomous vehicle, which includes a plurality of sensors and in which the position of a sensing axis is selectively varied.

A steering control system adapted for use on a paving machine having one or more wheels and an automatic pivot steer mode. The preferred steering control system comprises a speed sensor adapted to determine a paving machine speed, a steering cylinder adapted to move between a straight forward position and a fully turned position, a steering cylinder sensor adapted to determine a steering cylinder position, a flow sharing valve in fluid communication with one or more of the one or more wheels and adapted to be moved between an open position and a closed position, and a controller adapted to communicate with the speed sensor, the steering cylinder sensor, and the flow sharing valve. The preferred steering control system is adapted to automatically open and close the flow sharing valve. Automatically moving the flow sharing valve between the open position and the closed position.

A vehicle body speed estimation method applied to a four-wheel drive vehicle includes: acquiring an estimated vehicle body speed based on wheel speeds or a longitudinal acceleration of the vehicle; determining whether an operation condition that includes at least a condition that the estimated vehicle body speed is higher than an operation determination speed is satisfied; performing torque limitation to reduce a torque of a portion of wheels of the vehicle when the operation condition is satisfied; determining whether a stop condition that includes a condition that the estimated vehicle body speed is lower than or equal to a stop determination speed or a condition that a duration of a state where a wheel acceleration of the portion of the wheels is higher than zero is longer than or equal to a set period of time; and stopping the torque limitation when the stop condition is satisfied.