A system and method control an electro hydraulic power steering system for an electric vehicle having an electric vehicle battery. The power steering system includes an electro hydraulic power steering pump for assisting in movement of a steering wheel. An electronic controller includes an electronic processor configured to: receive a closed or open position for battery contactors from a contactor controller; receive a driving direction signal for the electric vehicle from a driving direction indicator; determine when the battery contactors are closed and when the driving direction signal is in drive or reverse for moving the electric vehicle, and provide an activation signal to operate the power steering pump when the battery contactors are closed and the driving direction signal is in one of drive and reverse. The electronic processor is configured to provide a deactivation signal to the power steering pump when the electric vehicle is not in drive or reverse; and/or the battery contactors are open.

A system and method control an electro hydraulic power steering system for an electric vehicle having an electric vehicle battery. The power steering system includes an electro hydraulic power steering pump for assisting in movement of a steering wheel. An electronic controller includes an electronic processor configured to: receive a closed or open position for battery contactors from a contactor controller; receive a driving direction signal for the electric vehicle from a driving direction indicator; determine when the battery contactors are closed and when the driving direction signal is in drive or reverse for moving the electric vehicle, and provide an activation signal to operate the power steering pump when the battery contactors are closed and the driving direction signal is in one of drive and reverse. The electronic processor is configured to provide a deactivation signal to the power steering pump when the electric vehicle is not in drive or reverse; and/or the battery contactors are open.

An autonomous vehicle and a system and method for operating the autonomous vehicle. The system includes a sensor and a processor. A disturbance force or yaw moment is received on the autonomous vehicle. The sensor measures a position of the autonomous vehicle within a lane of a road with respect to road boundaries and lane markings. The processor is configured to resist an effect of a disturbance force or yaw moment received on the autonomous vehicle. The processor minimizes a tracking error between a path of the autonomous vehicle and an initial track lane, wherein resisting the effect creates an inflection point in the path of the autonomous vehicle, establishes a final track lane at a closer of a lateral position of the inflection point and a lane center to the initial track lane, and tracks the path to the final track lane.

An autonomous vehicle includes a detection system for identifying the presence changes in wind incident on the autonomous vehicle, particularly wind gusts. The detection system may include one or more wind sensors, particularly those configured to detect wind incident on the vehicle from a direction that is transverse or perpendicular to the direction of motion of the autonomous vehicle. Additionally, systems may be present that correlate the detected wind gusts to changes in the behavior of the autonomous vehicle. The autonomous vehicle may react to the detected wind gusts by altering the vehicle's trajectory, by stopping the vehicle, or by communicating with a control center for further instructions.

A driving support ECU initializes a target trajectory calculation parameter at a start of LCA; calculates, based on the target trajectory calculation parameter, a target trajectory function representing a target lateral position which is a target position of an own vehicle in a lane width direction in accordance with an elapsed time from the start of LCA; calculates a target control amount based on the target trajectory function; when a steering operation by a driver has been detected, again initializes the target trajectory calculation parameter; and recalculates the target trajectory function based on the target trajectory calculation parameter.

A driving support ECU initializes a target trajectory calculation parameter at a start of LCA; calculates, based on the target trajectory calculation parameter, a target trajectory function representing a target lateral position which is a target position of an own vehicle in a lane width direction in accordance with an elapsed time from the start of LCA; calculates a target control amount based on the target trajectory function; when a steering operation by a driver has been detected, again initializes the target trajectory calculation parameter; and recalculates the target trajectory function based on the target trajectory calculation parameter.

A motor control device controls driving of a motor, which outputs torque to a rack shaft as a load by rotation of a shaft fixed to a rotor. The motor control device has a rotation stress check unit for determining a rotation stress indicating a rotation stress, which is applied inversely from the load to a protection target member such as a shaft, bearing and oil seal related to the rotation of the shaft or torque transmission to the load. The rotation stress check unit determines the rotation stress is excessive based on that an absolute value of a rotation evaluation value exceeds a stress threshold value. The stress threshold value is set to be larger than an absolute value of an upper limit value realized in normal drive control.

A vehicle driving support apparatus to be applied to a vehicle comprises a running environment recognizer; a preceding vehicle information acquirer that detects a vehicle class and variation in behavior of a preceding vehicle; an amount-of-steering control calculator that calculates an amount of steering control to cause the vehicle to run along a target path of travel set on a lane; a disturbance estimation control calculator that estimates lateral-direction disturbance to calculate an amount of steering against the disturbance based on the estimated disturbance; and a coordination controller that corrects the amount of steering control with the amount of steering. If a rolling direction and a lateral motion direction of the preceding vehicle coincide with each other, the disturbance estimation control calculator determines that the variation in the behavior of the preceding vehicle is caused by the disturbance, and calculates the amount of steering.

A vehicle control method for controlling a vehicle using a vehicle control apparatus includes: a sensor configured to detect a state outside a subject vehicle; and a control device. The vehicle control method includes: executing control of recovering a travel trajectory of the subject vehicle to a target trajectory, as ordinary control, by giving a steering amount in a lateral direction with respect to a travel lane of the subject vehicle; using detection data of the sensor to determine whether or not another vehicle is traveling in an adjacent lane to the travel lane of the subject vehicle; and when determining that the other vehicle is traveling in the adjacent lane ahead of the subject vehicle, increasing a response of the steering amount to a higher response than that in the ordinary control, before the subject vehicle passes the other vehicle.

A vehicle control method for controlling a vehicle using a vehicle control apparatus includes: a sensor configured to detect a state outside a subject vehicle; and a control device. The vehicle control method includes: executing control of recovering a travel trajectory of the subject vehicle to a target trajectory, as ordinary control, by giving a steering amount in a lateral direction with respect to a travel lane of the subject vehicle; using detection data of the sensor to determine whether or not another vehicle is traveling in an adjacent lane to the travel lane of the subject vehicle; and when determining that the other vehicle is traveling in the adjacent lane ahead of the subject vehicle, increasing a response of the steering amount to a higher response than that in the ordinary control, before the subject vehicle passes the other vehicle.