Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: obtaining ride preference information associated with a user, identifying a current vehicle pose, determining a motion plan for the vehicle along a route based at least in part on the ride preference information, the current vehicle pose, and vehicle kinematic and dynamic constraints associated with the route, and operating one or more actuators onboard the vehicle in accordance with the motion plan. The user-specific ride preference information influences a rate of vehicle movement resulting from the motion plan.

The present invention provides a vehicle movement control device which is capable of achieving stable vehicle behavior during the movement of a vehicle in lane changing mode. When calculating a travel path for turning a vehicle to the left side or the right side and then turning the vehicle to the other side, this vehicle movement control device calculates the travel path so that the peak value of the curvature of the travel path decreases in a section where the vehicle speed is higher.

A method for operating a vehicle (1), comprising: receiving (S1) sensor data (S) of a sensor system (3) of the vehicle (1), the sensor data (S) including a current steering-angle (?) and steering-angle velocity (W) of the vehicle (1) driving on a road (14) with a curve (13), determining (S2) a radius ahead R.sub.A of the curve (13) at a position ahead (P2) that the vehicle (1) will reach in a predetermined time span T based on an odometry-based radius ahead R.sub.O by the equation:

[00001]$R_O=R_C-T\left[\left(L.Math.W\right)/({\sin }^2\left(?\right)\right],$ wherein L is a distance between front and rear wheels (17, 18) of the vehicle (1) and R.sub.C is a radius of the road (14) at the current position (P1) of the vehicle (1), and performing (S6) a curvature control function based on the determined radius ahead R.sub.A.

The vehicle behavior control device comprises an engine control part operable, when an steering speed is greater than a predetermined threshold, and both of a steering wheel angle of a vehicle and the steering speed are increasing, to reduce an output torque of a multi-cylinder internal combustion engine along with an increase in the steering speed, and when the steering speed is equal to or less than the threshold, to stop the reduction of the output torque, and a threshold setting part operable, when the operation mode of the engine is the all-cylinder operation, to set the threshold to a first threshold T.sub.S1, and, when the operation mode of the engine is the reduced-cylinder operation, to set the threshold to a second threshold T.sub.S2 which is less than the first threshold T.sub.S1.

A method is for operating a vehicle which has actuators for influencing a driving behavior of the vehicle. The method includes sensing a setpoint for the driving behavior, in particular a steering angle set by a driver, and depending on the setpoint for the driving behavior, a first pilot control variable is determined using a model for the vehicle. Depending on the first pilot control variable, a second pilot control variable is determined using at least two partial models for the driving behavior of the vehicle, which differ due to the use of at least one of the actuators. Depending on the first pilot control variable and depending on the second pilot variable, a first setpoint for a first actuator is determined. The first setpoint is output in order to actuate the first actuator.

A vehicle behavior control method is suitable for a vehicle behavior control device. The vehicle behavior control device includes: a lateral acceleration sensor, detecting lateral acceleration occurring in a vehicle body; a wheel speed sensor, detecting a wheel speed of a wheel; a steering angle sensor, detecting a steering angle of the wheel; a steering angle lateral acceleration calculation unit, calculating steering angle lateral acceleration from the wheel speed and the steering angle; and a yaw moment control unit, applying yaw moment to the vehicle body. In the vehicle behavior control method, when the lateral acceleration and the steering angle lateral acceleration meet a predetermined condition, a yaw moment directed inward in a turning direction of the vehicle body is applied by the yaw moment control unit.

A drive assist system includes an occupant monitoring apparatus, a determination apparatus, and a drive assist control apparatus. The occupant monitoring apparatus monitors a physical state of an occupant, including a driver, of a vehicle. The determination apparatus determines a traveling state and a stopped state of the vehicle. The drive assist control apparatus executes a control to secure safe traveling upon determining that sleep duration of the occupant is less than a predetermined time and quality of sleep thereof is lower than a predetermined level on the basis of monitoring information acquired by the occupant monitoring apparatus. The drive assist control apparatus includes one or more processors that perform, in a case where determination information from the determination apparatus indicates the stopped state, a control of appropriately restricting the driver's driving operation on the basis of at least the sleep duration and the quality of sleep of the driver.

Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: obtaining ride preference information associated with a user, identifying a current vehicle pose, determining a motion plan for the vehicle along a route based at least in part on the ride preference information, the current vehicle pose, and vehicle kinematic and dynamic constraints associated with the route, and operating one or more actuators onboard the vehicle in accordance with the motion plan. The user-specific ride preference information influences a rate of vehicle movement resulting from the motion plan.

A system for controlling a vehicle navigating a roadway, including a perception module that generates sensor data and outputs a cost map and traffic data associated with traffic objects, a behavior planning module that receives the cost map and the traffic data from the perception module and generates planner primitives, a training module that receives the cost map and the traffic data from the perception module, receives driver input from a vehicle operator, and trains the behavior planning module, a local planning module comprising a set of task blocks that receives the cost map from the perception module and the planner primitives from the behavior planning module, selects a task block, and generates control commands using the selected task block; and a control module comprising an actuation subsystem, wherein the control module receives the control commands from the local planning module and controls the actuation subsystem.

A steering control apparatus includes: a command steering angle acceleration detector configured to detect a command steering angle acceleration, in an autonomous driving mode, using a command steering angle inputted from an autonomous driving system; an autonomous driving determiner configured to determine whether to cancel the autonomous driving mode using any one or any combination of any two or more of a column torque of a steering shaft, a vehicle speed of a vehicle, and the command steering angle acceleration; and a steering angle controller configured to control a steering angle, in the autonomous driving mode, by adjusting a gain according to a steering angle error between the command steering angle and a current steering angle, based on an output from the command steering angle acceleration detector.