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.

Systems and Methods for controlling an autonomous vehicle, may include: receiving sensor data, the sensor data comprising vehicle parameter information for the autonomous vehicle; using the sensor data to determine a vehicle state for the autonomous vehicle, wherein the vehicle state comprises information regarding a magnitude of an actual or predicted effective understeer gradient for the vehicle; computing a yaw moment required to correct the effective understeer gradient based on the magnitude of the effective understeer gradient; and determining a combination of one or more vehicle control inputs, including applying a brake torque, to correct the effective understeer gradient; applying the brake torque to a single wheel of the vehicle, wherein an amount of brake torque applied is sufficient to lock up the single wheel to create a yaw moment on the vehicle to achieve the computed yaw moment required to correct the effective understeer gradient.

Systems and Methods for controlling an autonomous vehicle, may include: receiving sensor data, the sensor data comprising vehicle parameter information for the autonomous vehicle; using the sensor data to determine a vehicle state for the autonomous vehicle, wherein the vehicle state comprises information regarding a magnitude of an actual or predicted effective understeer gradient for the vehicle; computing a yaw moment required to correct the effective understeer gradient based on the magnitude of the effective understeer gradient; and determining a combination of one or more vehicle control inputs, including applying a brake torque, to correct the effective understeer gradient; applying the brake torque to a single wheel of the vehicle, wherein an amount of brake torque applied is sufficient to lock up the single wheel to create a yaw moment on the vehicle to achieve the computed yaw moment required to correct the effective understeer gradient.

An on-board unit as a direction change detection device is configured to acquire a steered angle and a mileage of a vehicle at a time point at which a right turn event related to a right turn of the vehicle occurs when the right turn event occurs, and detect the right turn on condition that a maximum value of the steered angle is equal to or less than a first threshold value, and the mileage is equal to or greater than a second threshold value.

An on-board unit as a direction change detection device is configured to acquire a steered angle and a mileage of a vehicle at a time point at which a right turn event related to a right turn of the vehicle occurs when the right turn event occurs, and detect the right turn on condition that a maximum value of the steered angle is equal to or less than a first threshold value, and the mileage is equal to or greater than a second threshold value.

This disclosure describes a radar system configured to estimate a yaw-rate and an over-the-ground (OTG) velocity of extended targets in real-time based on raw radar detections. This disclosure further describes techniques for determining instantaneous values of lateral velocity, longitudinal velocity, and yaw rate of points of a rigid body in a radar field-of-view (FOV) of the radar system.

This disclosure describes a radar system configured to estimate a yaw-rate and an over-the-ground (OTG) velocity of extended targets in real-time based on raw radar detections. This disclosure further describes techniques for determining instantaneous values of lateral velocity, longitudinal velocity, and yaw rate of points of a rigid body in a radar field-of-view (FOV) of the radar system.

A control apparatus for a vehicle includes: a target yaw rate calculator; a primary limit yaw rate calculator; a yaw rate comparator; a secondary limit yaw rate calculator; and a vertical load controller. The target yaw rate calculator calculates a target yaw rate of the vehicle. The primary limit yaw rate calculator calculates a primary limit yaw rate on a basis of a vertical load on a wheel. The yaw rate comparator compares the target yaw rate with the primary limit yaw rate. The secondary limit yaw rate calculator calculates a secondary limit yaw rate in a case where a distribution of the vertical load on the wheel is changed in a case where the target yaw rate exceeds the primary limit yaw rate. The vertical load controller changes the vertical load on a basis of the secondary limit yaw rate.

A control apparatus for a vehicle includes: a target yaw rate calculator; a primary limit yaw rate calculator; a yaw rate comparator; a secondary limit yaw rate calculator; and a vertical load controller. The target yaw rate calculator calculates a target yaw rate of the vehicle. The primary limit yaw rate calculator calculates a primary limit yaw rate on a basis of a vertical load on a wheel. The yaw rate comparator compares the target yaw rate with the primary limit yaw rate. The secondary limit yaw rate calculator calculates a secondary limit yaw rate in a case where a distribution of the vertical load on the wheel is changed in a case where the target yaw rate exceeds the primary limit yaw rate. The vertical load controller changes the vertical load on a basis of the secondary limit yaw rate.