A vehicle control apparatus comprising, a center of gravity six-component calculation unit for calculating a center of gravity six-component as vehicle motion targets based on a driver input, a tire three-component calculation unit for calculating a tire three-component of four wheels of a vehicle based on the center of gravity six-component, a vehicle control unit for performing vehicle control by the vehicle control, actuator group based on the tire three-component of the four wheels, and wherein the tire three-component calculation unit calculates the tire three-component of the four wheels from the center of gravity six-component by a coordinate transformation without repetition, which is normalization with the driving stiffness of each wheel and the cornering stiffness of each wheel, when the number of control requests in the vehicle control is less than degrees of freedom of the vehicle control actuator group.

A vehicle control method includes: acquiring information on acceleration, information on rotational speed of a drive wheel, and information on driving force; after a dropping state where a calculated speed indicative of a vehicle body speed calculated from the rotational speed is less than an estimated speed indicative of a vehicle body speed in a front-rear direction estimated from the acceleration has transitioned to a non-dropping state and a holding period in which the non-dropping state is held has passed, determining whether or not a reset condition to reset the estimated speed is satisfied; when the reset condition is satisfied, determining whether or not the driving force is less than a threshold value; and when the driving force is less than the threshold value, resetting the estimated speed and setting a current value of the calculated speed to a vehicle body initial speed used for estimating the estimated speed.

A method for measuring a slope angle of a vehicle includes, by a controller: determining whether or not a speed of the vehicle is 0 based on a speed signal received from a vehicle speed sensor of the vehicle; measuring an extremal value measured first, an extremal value measured second, and an extremal value measured third among extremal values of an output signal of an acceleration sensor detecting a signal corresponding to the slope angle of the vehicle when the speed of the vehicle is 0; verifying whether or not the measured three extremal values satisfy conditions of the extremal values based on reference conditions of each of the extremal values; estimating a steady state value of the output signal of the acceleration sensor, based on the extremal values measured first and second among the verified three extremal values and a dynamic characteristic parameter of the vehicle or based on the verified three extremal values; and converting the steady state value into the slope angle of the vehicle. The output signal of the acceleration sensor has a damped free vibration waveform.

A method for measuring a slope angle of a vehicle includes, by a controller: determining whether or not a speed of the vehicle is 0 based on a speed signal received from a vehicle speed sensor of the vehicle; measuring an extremal value measured first, an extremal value measured second, and an extremal value measured third among extremal values of an output signal of an acceleration sensor detecting a signal corresponding to the slope angle of the vehicle when the speed of the vehicle is 0; verifying whether or not the measured three extremal values satisfy conditions of the extremal values based on reference conditions of each of the extremal values; estimating a steady state value of the output signal of the acceleration sensor, based on the extremal values measured first and second among the verified three extremal values and a dynamic characteristic parameter of the vehicle or based on the verified three extremal values; and converting the steady state value into the slope angle of the vehicle. The output signal of the acceleration sensor has a damped free vibration waveform.

A method is provided for steering control of a vehicle by using lateral velocity of two know points (or lateral velocity of one known point and yaw rate), longitudinal velocity and steer angle information. These factors are used to calculate a target steer angle based on the track angle based on yaw decomposition to thus adjust a current steer angle of the vehicle based on the target steer angle.

A method is provided for steering control of a vehicle by using lateral velocity of two know points (or lateral velocity of one known point and yaw rate), longitudinal velocity and steer angle information. These factors are used to calculate a target steer angle based on the track angle based on yaw decomposition to thus adjust a current steer angle of the vehicle based on the target steer angle.

A vehicle autonomous driving control apparatus for a vehicle includes: a processor that adjusts a control band for controlling an acceleration and a deceleration of the vehicle, based on a target acceleration and deceleration and an acceleration/deceleration response stage which sets a speed of responsiveness of the acceleration and deceleration of the vehicle to follow the target acceleration and deceleration; and a storage to store a driving pattern learning result calculated by the processor, the target acceleration and deceleration, and the control band.

A vehicle autonomous driving control apparatus for a vehicle includes: a processor that adjusts a control band for controlling an acceleration and a deceleration of the vehicle, based on a target acceleration and deceleration and an acceleration/deceleration response stage which sets a speed of responsiveness of the acceleration and deceleration of the vehicle to follow the target acceleration and deceleration; and a storage to store a driving pattern learning result calculated by the processor, the target acceleration and deceleration, and the control band.

A driving assist apparatus comprises a driver monitor sensor which detects a state of a driver of an own vehicle installed with the driving assist apparatus. The apparatus determines whether the driver is in a drowsy state, based on the state of the driver detected by the driver monitor sensor. The apparatus determines that a light collision occurs when a light collision determination condition that at least one collision index value representing a level of a collision of the own vehicle is larger than a light collision determination threshold at which an airbag is not developed, is satisfied. The apparatus executes a secondary collision damage mitigation control to apply a braking force to the own vehicle or limit a driving force applied to the own vehicle when determining that the driver is in the drowsy state, and the light collision occurs.

A driving assist apparatus comprises a driver monitor sensor which detects a state of a driver of an own vehicle installed with the driving assist apparatus. The apparatus determines whether the driver is in a drowsy state, based on the state of the driver detected by the driver monitor sensor. The apparatus determines that a light collision occurs when a light collision determination condition that at least one collision index value representing a level of a collision of the own vehicle is larger than a light collision determination threshold at which an airbag is not developed, is satisfied. The apparatus executes a secondary collision damage mitigation control to apply a braking force to the own vehicle or limit a driving force applied to the own vehicle when determining that the driver is in the drowsy state, and the light collision occurs.