An apparatus that detects a tilt, lean, movement and/or rotation and/or change in tilt, lean, position and/or rotation of a user, rider, and/or payload which may use sensors configured to accomplish this detection, where sensors may be on, embedded in and/or attached to a structural device, strap, and/or surface of a vehicle, structure or system, where an apparatus of the present invention may be on, part of, in, attached to or connected to a vehicle, structure or system where detecting, measuring and/or determining a lean, tilt, movement and/or rotation or change thereof, of a user, rider, and/or payload, may be desirable; position or movement and/or center of mass or change thereof may be calculated, or detected; calculations, measurements, metrics or detections from the present invention may be an output or the only output of an apparatus that is an embodiment of the present invention.

Provided are a driver posture measurement device and a vehicle control device that can accurately measure the posture of a driver with a simple configuration without attaching a plurality of wireless communication units to a vehicle. The driver posture measurement device and the vehicle control device are configured such that, between one wireless communication unit provided on the vehicle side and one wireless communication unit provided on the driver side, radio waves are radiated from the wireless communication unit provided on the vehicle side, and on the basis of a radio wave arrival angle of the radio waves arriving at the wireless communication unit provided on the driver side, the driver posture is measured.

Provided are a driver posture measurement device and a vehicle control device that can accurately measure the posture of a driver with a simple configuration without attaching a plurality of wireless communication units to a vehicle. The driver posture measurement device and the vehicle control device are configured such that, between one wireless communication unit provided on the vehicle side and one wireless communication unit provided on the driver side, radio waves are radiated from the wireless communication unit provided on the vehicle side, and on the basis of a radio wave arrival angle of the radio waves arriving at the wireless communication unit provided on the driver side, the driver posture is measured.

A vehicle including a Global Positioning System (GPS) sensor, an Inertial Measurement Unit (IMU), and an Advanced Driver Assistance System (ADAS) is described. Operating the vehicle includes determining, via the GPS sensor, first parameters associated with a velocity, a position, and a course, and determining, via the IMU, second parameters associated with acceleration and angular velocity. Roll and pitch parameters are determined based upon the first and second parameters. A first vehicle velocity vector is determined based upon the roll and pitch parameters, the first parameters, and the second parameters; and a second vehicle velocity vector is determined based upon the roll and pitch parameters, road surface friction coefficient, angular velocity, road wheel angles and the first vehicle velocity vector. A final vehicle velocity vector is determined based upon fusion of the first and second vehicle velocity vectors. The vehicle is controlled based upon the final vehicle velocity vector.

A vehicle including a Global Positioning System (GPS) sensor, an Inertial Measurement Unit (IMU), and an Advanced Driver Assistance System (ADAS) is described. Operating the vehicle includes determining, via the GPS sensor, first parameters associated with a velocity, a position, and a course, and determining, via the IMU, second parameters associated with acceleration and angular velocity. Roll and pitch parameters are determined based upon the first and second parameters. A first vehicle velocity vector is determined based upon the roll and pitch parameters, the first parameters, and the second parameters; and a second vehicle velocity vector is determined based upon the roll and pitch parameters, road surface friction coefficient, angular velocity, road wheel angles and the first vehicle velocity vector. A final vehicle velocity vector is determined based upon fusion of the first and second vehicle velocity vectors. The vehicle is controlled based upon the final vehicle velocity vector.

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 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.

Provided is a vehicle posture control device configured to be installed in a vehicle provided with an actuator configured to generate a roll moment. The device includes a roll moment calculator (24) and an actuator controller (25). The roll moment calculator (24) is configured to calculate a roll moment command value to control the actuator such that a roll motion is generated in conjunction with a yaw motion in the vehicle (1) during turning thereof. The roll moment calculator (24) is configured to calculate the roll moment command value for output, on the basis of a sideslip angular velocity and a vehicle velocity of the vehicle. The actuator controller (25) is configured to control the actuator by using the calculated roll moment command value.

A vehicle lamp controller, a vehicle lamp system, and a vehicle lamp control method are provided. The vehicle lamp system includes an acceleration sensor, a vehicle lamp, and the vehicle controller. The controller includes a receiver configured to receive an acceleration information detected by the acceleration sensor, a control unit configured to derive a vehicle longitudinal direction acceleration and a vehicle vertical direction acceleration from the acceleration information, and to generate a control signal for instructing an adjustment of an optical axis of the vehicle lamp, based on a variation in a ratio between a temporal change amount of the vehicle longitudinal direction acceleration and a temporal change amount of the vehicle vertical direction acceleration during at least one of an acceleration and a deceleration of a vehicle, and a transmitter configured to transmit the control signal to an optical axis adjusting portion of the vehicle lamp.

A vehicle lamp controller, a vehicle lamp system, and a vehicle lamp control method are provided. The vehicle lamp system includes an acceleration sensor, a vehicle lamp, and the vehicle controller. The controller includes a receiver configured to receive an acceleration information detected by the acceleration sensor, a control unit configured to derive a vehicle longitudinal direction acceleration and a vehicle vertical direction acceleration from the acceleration information, and to generate a control signal for instructing an adjustment of an optical axis of the vehicle lamp, based on a variation in a ratio between a temporal change amount of the vehicle longitudinal direction acceleration and a temporal change amount of the vehicle vertical direction acceleration during at least one of an acceleration and a deceleration of a vehicle, and a transmitter configured to transmit the control signal to an optical axis adjusting portion of the vehicle lamp.