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 method and system include a vehicle system including a plurality of vehicles. The system includes a handling unit comprising a communication device and a controller. The communication device receives first position data for a first vehicle of the vehicle system and second position data for a second vehicle of the vehicle system relative to a route on which the vehicle system is traveling. The controller determines that the first vehicle is entering into a curved portion of the route, and generates a control signal based on the first and second position data. The control signal changes an operating parameter of at least one of the first or second vehicles to control a separation distance between the vehicles or a deviation distance between respective travel paths taken by the first and second vehicles through the curved portion of the route.

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.

To provide an optimal calculation apparatus which can reduce the calculation using the evaluation elements, such as constraint condition, in the initial calculation using the initial value when solving the optimization problem. An optimal calculation apparatus sets an initial value of an input variable of a specific type by switching a plurality of setting methods so that an evaluation element of an object type relevant to the input variable of the specific type can be excluded from the optimization problem in an initial calculation using the initial value; and in the initial calculation using the initial value, excludes the evaluation element of the object type relevant to the input variable of the specific type from the optimization problem, and performs calculation for solving the optimization problem.

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 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 vehicle-behavior control apparatus according to an embodiment includes a collision determining unit that determines whether a vehicle collides with an obstacle when the vehicle is decelerated while going straight based on at least a detection result of the obstacle in front of the vehicle and a detection result of a running state of the vehicle in a condition in which wheels are being braked, and a vehicle-behavior control unit that performs at least one of the control of steering rear wheels and the control of giving a difference in braking conditions between the left and right wheels such that the vehicle is decelerated while detouring around the obstacle without steering front wheels when it is determined to collide with the obstacle by the collision determining unit, as one example.

Methods and systems are provided for evaluating a steering system of a vehicle, in which the steering system includes a steering column, steering rack, and pinion. The rack is manipulated as the steering system is mounted to a testing system. The steering column is also manipulated as the steering system is mounted to the testing system. Data is collected from the manipulating of the rack and the dithering of the steering column for use in evaluating the steering system.

A method for an autonomous parking control apparatus includes determining whether a curb exists in an autonomous parking space for a vehicle; storing a position of the curb when the curb exists; determining whether steering control of the vehicle is required at the curb; and controlling autonomous parking of the vehicle by adjusting Motor Driven Power Steering (MDPS) steering angle to 0 when no steering control is required at the curb.

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.