A vehicle includes an ADK attachable to and removable from a vehicle main body, the ADK issuing an instruction for autonomous driving, a VP including a plurality of functional units that perform a plurality of prescribed functions of the vehicle main body, and a VCIB that issues a control instruction to the functional units in accordance with an instruction from the ADK. One of the plurality of functional units is a steering system that steers the vehicle main body. The steering system specifies a limit value of a steering rate in accordance with a prescribed reference and transmits the specified limit value to the ADK through the VCIB. The ADK calculates a target steering angle to satisfy the limit value received from the steering system and transmits an instruction for the calculated steering angle to the steering system through the VCIB.

A method for executing multi-mode turns with a work vehicle includes transmitting initial steering and braking commands for controlling an operation of a steering actuator(s) and a steering brake(s), respectively, of the work vehicle to initiate execution of a multi-mode turning operation. The method also includes determining allowable steering and braking rates for the work vehicle based at least in part on an actual steering rate and an actual braking rate, respectively, of the work vehicle during execution of the multi-mode turning operation, and determining updated steering and braking commands based at least in part on the allowable steering and braking rates. In addition, the method includes transmitting the updated steering and braking commands to control the operation of the steering actuator(s) and the steering brake(s), respectively, to continue execution of the multi-mode turning operation.

A collision determination device includes: an own vehicle region calculation unit that calculates an own vehicle presence region for each predetermined time on an estimated route of the own vehicle in a two-dimensional coordinate system defined by a distance in an own vehicle traveling direction and a distance in a vehicle width direction of the own vehicle at a current time;

an own vehicle information calculation unit that calculates an own vehicle solid by interpolating the calculated own vehicle presence region for each predetermined time in a three-dimensional coordinate system defined by the distance in the own vehicle traveling direction, the distance in the vehicle width direction, and elapsed time from the current time, the own vehicle solid being a solid showing change of the own vehicle presence region; a movement path calculation unit that calculates a movement path of the object in the three-dimensional coordinate system on the basis of a position of the object detected by the object detection device; and a determination unit that determines whether the object will collide with the own vehicle on the basis of whether the calculated own vehicle solid intersects the calculated movement path of the object.

A steering device includes a steering wheel, a torsion bar, a spiral cable, a torque sensor, and an electronic control unit. The electronic control unit is configured to compute a rotational angle of the steering wheel. The electronic control unit is configured to compute, as driver torque, a value that includes a sum obtained by adding torsion bar torque, a steering wheel inertial torque compensation value and a spiral cable torque compensation value. The steering wheel inertial torque compensation value is the product of a steering wheel inertial moment and a second-order differential value of the rotational angle of the steering wheel. The spiral cable torque is torque that acts on the steering wheel because of the spiral cable.

An apparatus may include a driving information input unit for receiving driving information generated while a vehicle travels, a steering angle location control unit for receiving a command steering angle for autonomous driving and a current motor steering angle of a driving motor and outputting an autonomous driving command through location control, and a motor-driven power steering control unit for driving the driving motor based on the autonomous driving command in an autonomous driving mode, determining whether a driver intervenes in steering, based on the driving information during the autonomous driving, computing a driver command according to the driver' steering based on a result of the determination, computing a compensation output between the autonomous driving command and the driver command by applying a weighting according to a steering angular speed, and making a mode transition from the autonomous driving mode to a driver mode while driving the driving motor.

An autonomous driving system includes: a driver information acquisition device that acquires driver information indicating an action and a state of a driver of a vehicle; and a control device that performs autonomous driving control that controls autonomous driving of the vehicle. The autonomous driving control includes: deactivating action detection processing that detects, based on the driver information, a deactivating action of the driver to deactivate the autonomous driving; ready state detection processing that detects, based on the driver information, a ready state indicating that the driver is ready for manual driving; and deactivation processing that deactivates the autonomous driving when the ready state is detected after the deactivating action is detected.

In a driving assistance control apparatus for a vehicle, an acquisition unit is configured to acquire a detected traveling state of the vehicle and a detected traveling environment of the vehicle. A control unit is configured to, when a curvature radius of a travel trajectory of the vehicle is equal to or less than a predetermined radius threshold, cause a driving assistance unit to perform collision avoidance assistance using, as an activation area of the collision avoidance assistance, a reduced activation area obtained by reducing a reference activation area, and when determining that the vehicle is making a constant turn, cause the driving assistance unit to perform the collision avoidance assistance by using the traveling state of the vehicle and the traveling environment of the vehicle and the reference activation area even if the curvature radius of the travel trajectory is equal to or less than the radius threshold.

A vehicle system comprises an engine, a motor-generator and a controller. The engine has a combustion mode in which a part of an air-fuel mixture is combusted by spark ignition, and then the remaining air-fuel mixture is combusted by self-ignition. The controller sets a target additional deceleration based on a steering angle, when a steering wheel is turned, and sets an air-fuel ratio of the air-fuel mixture to either one of a first air-fuel ratio and a second air-fuel ratio which is on a lean side, based on an operating state, when the engine performs the combustion mode. The controller controls an ignition timing so as to generate the target additional deceleration in the first air-fuel ratio, and controls a regenerative electric power generation of the motor-generator so as to generate the target additional deceleration in the second air-fuel ratio.

There is provided a vehicle behavior control device capable of improving responsivity of a vehicle behavior and a linear feeling with respect to a steering wheel operation without causing a driver to experience a strong feeling of intervention of the control and, at the same time, capable of controlling behavior of a vehicle in such a manner as to also improve stability of the vehicle attitude and riding comfort. In a vehicle behavior control device applied to a vehicle 1 having steerable front road wheels 2, the vehicle behavior control device includes a PCM 14 which acquires a steering speed of the vehicle, and increases a pitch angle in such a direction that a front portion of the vehicle dips when the steering speed becomes equal to or greater than a given threshold T.sub.S1 which is greater than zero.

A computer includes a processor and a memory storing processor-executable instructions. The processor is programmed to record steering-system torque in response to a difference between a detected steering angle and a requested steering angle exceeding an angle threshold, increment a counter based on the recorded steering-system torque, and set a repair indicator in response to the counter exceeding a counter threshold.