A number of variations may include a method including using at least one of brakes or propulsion energy to steer an autonomous or semi-autonomous vehicle if a primary, secondary or other redundant steering system for an autonomous or semi-autonomous vehicle has failed or is insufficiently unhealthy to perform a desired function, the method including determining if a primary, secondary or other redundant steering system of an autonomous or semi-autonomous vehicle has failed or is not sufficiently healthy to perform a desired function, and if so, converting a steer request into a desired yaw rate, curvature, curvature over time, radius, radius or time or yaw rate acceleration, calculating a brake pressure sufficient to produce the desired yaw rate, curvature, curvature over time, radius, radius or time or yaw rate acceleration, delivering brake pressures signals via a lateral control module to an actuator for at least one brake connected to a wheel of the vehicle so that the brake pressure causes the vehicle yaw at the desired yaw rate, curvature, curvature over time, radius, radius or time or yaw rate acceleration.

A controller for a vehicle is configured to execute a process that detects an anomaly of a steering device and a process that performs an automatic turning control that causes the vehicle to turn automatically along a traveling route. The controller is configured to perform the automatic turning control by controlling the steering device when an anomaly of the steering device is not detected. The controller is configured to, when an anomaly of the steering device is detected, calculate, as a predicted value, a load on the substitute device on an assumption that the automatic turning control is performed by activating the substitute device, and perform the automatic turning control by controlling the substitute device when an allowable range that is a set of values of a load allowable to the substitute device includes the predicted value.

A method for controlling a hydraulic servo steering system in a vehicle includes reading out a collision warning signal to establish that a collision assistance case exists, and in response to determining that the collision assistance case exists, providing a hydraulic fluid by a hydraulic pump of the servo steering system. Serving for steering assistance has an actual volumetric flow-rate that is greater than or equal to a minimum volumetric flow-rate. The method additionally includes increasing a pump speed if the actual volumetric flow-rate is less than the minimum volumetric flow-rate, the pump speed being dependent on an engine/motor speed of a drive engine/motor interacting with the hydraulic pump.

A method for controlling a vehicle to make an emergency stop of the vehicle providing a camera and an electronic control unit (ECU) at the vehicle. Presence of a road condition is determined at the road along which the vehicle is traveling. Responsive to determining an emergency driving condition while the vehicle is traveling along the road at the road condition, the ECU at least partially controls driving of the vehicle along the road. While the ECU is at least partially controlling driving of the vehicle along the road, and responsive to determining an end of the road condition, a target stopping location is determined ahead of the vehicle at the road along which the vehicle is traveling and after the end of the road condition. The ECU at least partially controls driving of the vehicle to the target stopping location.

A vehicle-electrical-apparatus, including: a) a service-brake-device having an electropneumatic service-brake-device, which is an electronically-brake-pressure-regulated-brake-system, having an electropneumatic-service-brake-valve-device (ESBVD), a first-electronic-brake-control-device (EBCD), electropneumatic-modulators and pneumatic-wheel-brake actuators; b) a sensor-device to deliver sensor-signals, including: at least one wheel-rotational-speed-sensor, a longitudinal-acceleration-sensor, a transverse-acceleration-sensor, a yaw-rate-sensor, and/or a steering-wheel-angle-sensor, wherein: c) the first-EBCD electrically controls the electropneumatic-modulators, which generate pneumatic-brake-pressures or brake-control-pressures for the pneumatic-wheel-brake-actuators, and d) the ESBVD has a service-brake-actuation-member and, within at least one electrical-service-brake-circuit, at least one electrical-channel containing at least one electrical-brake-value-transmitter, actuate-able by the service-brake-actuation-member, for coupling out actuation-signals depending on actuation of the service-brake-actuation-member, and at least one second-EBCD, receiving the actuation-signals and independent of the first-EBCD, which second-ECBD couples brake-request signals into the first-EBCD depending on the actuation-signals, and, within at least one pneumatic-service-brake-circuit, at least one pneumatic-channel in which at least one control-piston of the service-brake-valve-device is loaded with a first-actuation-force by actuating the service-brake-actuation-member based on a driver-brake-request, and the control-piston directly/indirectly controls at least one double-seat valve, containing an inlet-seat/outlet-seat, of the service-brake-valve-device to generate pneumatic-brake-pressures or brake-control-pressures for the pneumatic-wheel-brake-actuators; e) a means to generate a second-actuation-force that acts on the at least one control-piston in the same/opposite direction to the first-actuation-force; wherein: f) brake slip and/or driving-dynamics-regulation-routines are in the second-EBCD, g) the second-EBCD receives sensor-signals, and h) for braking requested depending on driver-braking or requested independently of a driver-brake-request, the means generates the second-actuation-force, such that at least one brake-slip and/or driving-dynamics-regulation operation is performed.

Steering a vehicle may include applying a net brake-steering force to a steered wheel sufficient to affect a steering moment upon the steered wheel sufficient to move the steered wheel away from a zero steering angle, and resisting movement of the steered wheel back toward the zero steering angle.

A brake apparatus for a vehicle includes a brake and a processor configured to control the brake, and the processor is configured to receive a steering command including a steering direction from a steering apparatus of a vehicle, control the brake to provide a one-sided braking force to an inner wheel in the steering direction based on the receiving of the steering command, identify oversteering or understeering based on an output of a motion sensor of the vehicle, and control the brake to provide the one-sided braking force to an outer wheel in the steering direction based on the identifying of the oversteering.

A steering method for an autonomously steered vehicle having a hybrid steering system, including: identifying a malfunction during an autonomous driving procedure, wherein the hybrid steering system includes a hydraulic steering assistance system, an electromechanical steering assistance system and a control unit for monitoring and controlling the autonomous driving procedure of the vehicle, and switching the steering task by the control unit to a steering braking procedure, by which the vehicle is steered by braking at least one wheel, wherein due to the braking force that is acting on the scrub radius, a steering torque is produced that causes the wheels to turn. Also described is a related a servo-assisted steering assembly.

A vehicular control system includes a control disposed at a vehicle. A camera is disposed at the vehicle and has a field of view exterior and at least forward of the vehicle. The control is operable to at least partially control driving of the vehicle responsive to determination of an emergency driving condition. The control, responsive to determination of an emergency driving condition, determines a target stopping location ahead of the vehicle at a road along which the vehicle is traveling. The control determines the target stopping location responsive at least in part to processing of image data captured by the camera. The control, responsive to determination of the target stopping location, at least partially controls driving of the vehicle to the target stopping location.

The invention relates to a method for providing vehicle steering support by differential wheel braking, the vehicle comprising: at least two axles with at least two wheels per axle; a braking system allowing individual braking of the wheels; and means for determining and/or estimating an operator input torque applied on a steering wheel, wherein the vehicle is configured with a positive scrub radius; the method comprising the steps of: identifying a need for steering support; determining a braking value required for achieving the needed steering support based on an integration of a function of at least one input value (T.sub.input) related to a determined or estimated operator input torque; and controlling the braking system based on the determined braking value.