A motorcycle includes a pair of left and right front forks, a headlight, cover members (side cowls and light covers), and camera units. A front wheel is rotatably attached to the pair of left and right front forks. The headlight irradiates a forward side. The cover members each having an internal space are disposed at least laterally outside the pair of left and right front forks in a front view. The camera units detect the forward side by acquiring visible light which is one kind of electromagnetic waves (by acquiring images). In a front view, the camera units are disposed below the headlight and laterally outside the pair of left and right front forks. The camera units are disposed in the internal spaces of the cover members.

An embodiment device for controlling autonomous driving includes a roll angle estimated value calculation device configured to calculate a roll angle estimated value of a vehicle based on a height of a center of gravity of the vehicle, a sprung mass, a spring constant of a suspension, a target speed, and a target turning radius, and a controller configured to compare a roll angle of the vehicle with a preset reference roll angle to adjust the target speed or the target turning radius of the vehicle.

An embodiment device for controlling autonomous driving includes a roll angle estimated value calculation device configured to calculate a roll angle estimated value of a vehicle based on a height of a center of gravity of the vehicle, a sprung mass, a spring constant of a suspension, a target speed, and a target turning radius, and a controller configured to compare a roll angle of the vehicle with a preset reference roll angle to adjust the target speed or the target turning radius of the vehicle.

Methods and systems implemented in a vehicle involve obtaining a single camera image from a camera arranged on the vehicle. The image indicates a heading angle ψ.sub.0 between a vehicle heading x and a tangent line that is tangential to road curvature of a road on which the vehicle is traveling and also indicates a perpendicular distance y.sub.0 from a center of the vehicle to the tangent line. An exemplary method includes obtaining two or more inputs from two or more vehicle sensors, and estimating kinematic states of the vehicle based on applying a Kalman filter to the single camera image and the two or more inputs to solve kinematic equations. The kinematic states include roll angle and pitch angle of the vehicle.

Methods and systems implemented in a vehicle involve obtaining a single camera image from a camera arranged on the vehicle. The image indicates a heading angle ψ.sub.0 between a vehicle heading x and a tangent line that is tangential to road curvature of a road on which the vehicle is traveling and also indicates a perpendicular distance y.sub.0 from a center of the vehicle to the tangent line. An exemplary method includes obtaining two or more inputs from two or more vehicle sensors, and estimating kinematic states of the vehicle based on applying a Kalman filter to the single camera image and the two or more inputs to solve kinematic equations. The kinematic states include roll angle and pitch angle of the vehicle.

In a vehicle, GV control and M+ control are executed by generating braking/driving forces from a brake hydraulic pressure control device and a drive device during steering. A controller estimates (calculates), by a posture estimation unit, a pitch amount and a roll amount (predicted pitch rate and predicted roll rate) that occur in the vehicle through use of a moment command of the M+ control and a longitudinal G command of the GV control. The controller adjusts damping forces of damping force variable dampers through use of the estimated pitch amount and the estimated roll amount (predicted pitch rate and predicted roll rate) so that a pitch amount calculated by a pitch control unit and a roll amount calculated by a roll suppression unit approach respective target values.

In a vehicle, GV control and M+ control are executed by generating braking/driving forces from a brake hydraulic pressure control device and a drive device during steering. A controller estimates (calculates), by a posture estimation unit, a pitch amount and a roll amount (predicted pitch rate and predicted roll rate) that occur in the vehicle through use of a moment command of the M+ control and a longitudinal G command of the GV control. The controller adjusts damping forces of damping force variable dampers through use of the estimated pitch amount and the estimated roll amount (predicted pitch rate and predicted roll rate) so that a pitch amount calculated by a pitch control unit and a roll amount calculated by a roll suppression unit approach respective target values.

A vehicle is provided with a vehicle body, N (N is an integer equal to or larger than 2) wheels including one or more front wheels and one or more rear wheels, a force generator, and a force controller. The N wheels include one or more turn wheels turnable in the width direction of the vehicle. The force generator is configured to generate a force which changes a yaw angular acceleration. The force controller is configured to control the force generator. A gravity center of the vehicle body is located away from a rotation center of the vehicle toward front side or rear side when the vehicle turns. The force controller controls the force generator to control a roll torque in the width direction acting on the vehicle body.

A vehicle height adjustment control apparatus is provided for compensating for vehicle pulls including a recognition device that recognizes that a vehicle is driven straight, a determination device that determines whether the vehicle pulls of the vehicle occur, in response to recognizing that the vehicle is driven straight, and a controller that generates a warning message and calculates compensation height control information of the vehicle in response to determining that the vehicle pulls occur.

A vehicle height adjustment control apparatus is provided for compensating for vehicle pulls including a recognition device that recognizes that a vehicle is driven straight, a determination device that determines whether the vehicle pulls of the vehicle occur, in response to recognizing that the vehicle is driven straight, and a controller that generates a warning message and calculates compensation height control information of the vehicle in response to determining that the vehicle pulls occur.