A controller and a method for controlling motion of a vehicle is provided. The method comprises acquiring motion information including a current state of the vehicle and a desired state of the vehicle, determining a combination of a steering angle of the wheels and motor forces for moving the vehicle from the current state into the desired state by using a first model of the motion of the vehicle and a second model of the motion of the chassis of the vehicle, determining a cost function of the motion of the vehicle, optimizing the cost function of the motion of the vehicle to compute a command signal for controlling the steering wheel and the plurality of electric motors, and controlling the steering angle of the wheels and the motor forces based on the command signal.

A method and system for operating a vehicle's trailer reverse assist system is disclosed, including receiving vehicle sensor system data from one or more sensors supported by the vehicle. Based upon the received vehicle sensor data, a trailer pitch angle and a trailer roll angle of a coupled trailer are estimated relative to the vehicle. Surface unevenness of a surface traversed by the vehicle and the trailer is estimated, based upon the estimated trailer pitch angle and the estimated trailer roll angle. One or more parameters of the trailer reverse assist system or of the tow vehicle are adjusted based upon the estimated road surface variance. The trailer reverse assist system of the tow vehicle is subsequently operated using the adjusted one or more parameters.

A method and system for operating a vehicle's trailer reverse assist system is disclosed, including receiving vehicle sensor system data from one or more sensors supported by the vehicle. Based upon the received vehicle sensor data, a trailer pitch angle and a trailer roll angle of a coupled trailer are estimated relative to the vehicle. Surface unevenness of a surface traversed by the vehicle and the trailer is estimated, based upon the estimated trailer pitch angle and the estimated trailer roll angle. One or more parameters of the trailer reverse assist system or of the tow vehicle are adjusted based upon the estimated road surface variance. The trailer reverse assist system of the tow vehicle is subsequently operated using the adjusted one or more parameters.

A system and method of determining orientation of a physical location on a cart or end effector located on the cart in an independent cart. system receives a feedback signal from a sensor on the cart, A multi-axis device may generate three or more signals corresponding to X, Y, and Z axes orientations. Processing may be performed on the signals to generate a value of yaw, pitch, or roll of the cart. The feedback or processed signals are transmitted from the mover to a remote device external from the track. The real-time orientation information may be used to implement closed-loop control of an actuator mounted on or external to each cart as the cart travels along the track, Power for the devices on the mover may be provided by a battery mounted on the cart or by a wireless power transfer system.

A system and method of determining orientation of a physical location on a cart or end effector located on the cart in an independent cart. system receives a feedback signal from a sensor on the cart, A multi-axis device may generate three or more signals corresponding to X, Y, and Z axes orientations. Processing may be performed on the signals to generate a value of yaw, pitch, or roll of the cart. The feedback or processed signals are transmitted from the mover to a remote device external from the track. The real-time orientation information may be used to implement closed-loop control of an actuator mounted on or external to each cart as the cart travels along the track, Power for the devices on the mover may be provided by a battery mounted on the cart or by a wireless power transfer system.

A detection device includes: an acquisition unit configured to acquire a detection result of a plurality of targets present in a traveling direction of a vehicle from an imaging device attached to the vehicle; a calculation unit configured to determine whether the plurality of targets detected with movement of the vehicle are an identical target based on the detection result acquired by the acquisition unit and calculate a coordinate of each of the plurality of targets in chronological order; and a detection unit configured to detect a pitch angle and a roll angle of the imaging device with respect to a horizontal direction based on the coordinate calculated in chronological order by the calculation unit.

A detection device includes: an acquisition unit configured to acquire a detection result of a plurality of targets present in a traveling direction of a vehicle from an imaging device attached to the vehicle; a calculation unit configured to determine whether the plurality of targets detected with movement of the vehicle are an identical target based on the detection result acquired by the acquisition unit and calculate a coordinate of each of the plurality of targets in chronological order; and a detection unit configured to detect a pitch angle and a roll angle of the imaging device with respect to a horizontal direction based on the coordinate calculated in chronological order by the calculation unit.

A utility vehicle includes: a travel structure including a front wheel, a rear wheel, a steering structure mounted to the front wheel, and a drive source that drives the front wheel and/or the rear wheel; circuitry that controls the travel structure to effect autonomous travel without manned operation in a given travel area; and a vehicle location detector that detects a location of the utility vehicle. During the autonomous travel, the circuitry determines, based on road condition data where the travel area is divided into regions with different predetermined road condition levels, to which of the road condition levels a road condition of a region ahead of the location of the utility vehicle in a travel direction belongs, and the circuitry controls the travel structure such that a given travel parameter is within a corresponding one of permissible ranges predetermined respectively in association with the road condition levels.

A utility vehicle includes: a travel structure including a front wheel, a rear wheel, a steering structure mounted to the front wheel, and a drive source that drives the front wheel and/or the rear wheel; circuitry that controls the travel structure to effect autonomous travel without manned operation in a given travel area; and a vehicle location detector that detects a location of the utility vehicle. During the autonomous travel, the circuitry determines, based on road condition data where the travel area is divided into regions with different predetermined road condition levels, to which of the road condition levels a road condition of a region ahead of the location of the utility vehicle in a travel direction belongs, and the circuitry controls the travel structure such that a given travel parameter is within a corresponding one of permissible ranges predetermined respectively in association with the road condition levels.

A vehicle performance evaluation method, device and terminal are provided. The method includes: acquiring a labeled ADE score of an ADE item within a time period in which the ADE item occurs, and recording labeled data of an ADE index for indicating a vehicle state; acquiring a correlation between the ADE item and the vehicle state, according to the labeled ADE score and the labeled data of the ADE index; acquiring data of a target ADE index within a preset time period, and acquiring a target ADE score according to the data of the target ADE index and a correlation between the ADE item and the vehicle state; and acquiring a vehicle performance evaluation result according to the target ADE score. The passenger participation is not necessary, costs can be reduced and a vehicle evaluation efficiency can be improved.