Methods, apparatus, systems and articles of manufacture are disclosed for vehicle steering to follow a curved path. An example apparatus includes interface circuitry to determine vehicle data of a vehicle, navigation manager circuitry to determine navigation data of the vehicle, and tracking mode controller circuitry to: determine the vehicle is approaching a curve based on the navigation data, in response to determining the vehicle is approaching a curve: determine a wheel steering angle utilizing the navigation data and the vehicle data, the wheel steering angle corresponding to the curve, determine a heading error offset adjustment utilizing the navigation data and the vehicle data, and generate steering commands based on the wheel steering angle and the heading error offset, the steering commands to control the vehicle to reduce control errors and follow the wheel steering angle.

A reverse trajectory tracking method and apparatus, an electronic device and a storage medium are disclosed by the present application, which relates to a field of autonomous driving, and in particular to a field of autonomous parking and a field of trajectory tracking. The method includes: acquiring positioning information and reference trajectory of a vehicle; determining a heading error and a lateral error of the vehicle relative to a reference trajectory based on the positioning information and reference trajectory of the vehicle; determining an expected front wheel turning angle of the vehicle based on the heading error, the lateral error and a speed of the vehicle; adjusting an actual front wheel turning angle of the vehicle according to the expected front wheel turning angle of the vehicle.

When a collision avoidance steering control start condition becomes satisfied, a driving support ECU starts a steering control to avoid a collision with a frontward vehicle. The ECU prohibits the steering control when an indicated direction by turn indications of the frontward vehicle is the same as a planned direction of the steering control. The ECU sets the start condition to a first start condition, when the turn indicators of the frontward vehicle are not indicating a turning direction. The ECU sets the start condition to a second start condition, when the indicated direction is different from the planned direction. The first and second start conditions have been set such that an inter-vehicular distance between the host vehicle and the frontward vehicle of when the second start condition can be satisfied is shorter than one of when the first start condition can be satisfied.

A lane change assistance system includes: at least one sensor that detects sensing information including a first vehicle speed of a host vehicle, a second vehicle speed of a surrounding vehicle around the host vehicle, and a distance between the host vehicle and the surrounding vehicle; a lane change controller that identifies a lane change possible condition based on the sensing information, calculates an expected lane change time, and generates a lane change path for the expected lane change time; a steering device that controls lateral movement of the host vehicle based on the lane change path; and an acceleration and deceleration device that controls longitudinal movement of the host vehicle based on the lane change path.

Four-wheel steering of a vehicle, e.g., in which leading wheels and trailing wheels are steered independently of each other, can provide improved maneuverability and stability. A first vehicle model may be used to determine trajectories for execution by a vehicle equipped with four-wheel steering. A second vehicle model may be used to control the vehicle relative to the determined trajectories. For instance, the second vehicle model can determine leading wheels steering angles for steering leading wheels of the vehicle and trailing wheels steering angles for steering trailing wheels of the vehicle, independently of the leading wheels.

The present invention relates to a method for having a vehicle (100) follow a desired curvature path (C1), said vehicle (100) comprising at least one differential (10, 20, 30) with a differential lock connected to at least one driven wheel axle (40, 50) of said vehicle (100), said method comprising at least the following steps: —providing (S1) information regarding state of said differential lock, said state being either that said differential lock is activated or unlocked, and when said differential lock is activated: —calculating (S2) a yaw moment, M.sub.diff, of said vehicle (100), caused by said differential lock; and —compensating (S3) for a deviation from said desired curvature path (C1) caused by said yaw moment, M.sub.diff, such that a resulting steering angle is equal to or less than a maximum allowed steering angle of said vehicle (100), whereby said compensation is a feed forward compensation. The invention also relates to a control unit, a vehicle, a computer program and a computer readable medium.

A method and apparatus that control lateral movement of a vehicle are provided. The method includes receiving vehicle information and path information of the vehicle, determining a center of vehicle rotation from the vehicle information, minimizing a path tracking error based on the path information of the vehicle, determining a road wheel angle command or a steering torque command using non-linear optimization based on the minimized path tracking error, and controlling an actuator according to the road wheel angle command or steering torque command.

An anticipating module for a device for controlling, in real time, the path of a motor vehicle includes a sub-module for computing a turning command for compensating for the curvature of a bend in the lane of the vehicle and a variable-gain device that is connected to an output of the computing sub-module. The gain of the variable-gain device is connected to a controller to adjust the gain so as to decrease the lateral offset between the centre of gravity of the vehicle and the centre of the lane of the vehicle depending on the result of the comparison of components of a vector of current measurements of state variables of the device to one another and to a detection threshold, the output of the variable-gain device being the steering command for compensating for the curvature of the bend.

A method of autonomous driving for low-speed or zero-speed maneuvering of a motor vehicle includes modifying the orientation of the steerable wheels of the vehicle while the speed of the vehicle is zero or substantially zero, or less than or equal to a threshold, in particular a threshold equal to 1 km/h.

Systems and methods for determining one or more juke events are provided. The method includes generating, for an initial trajectory cycle, an initial planned trajectory of an autonomous vehicle, using a motion planning module, and generating, for a subsequent trajectory cycle, a subsequent planned trajectory of the autonomous vehicle, using the motion planning module. Each of the initial planned trajectory and the subsequent planned trajectory includes a series of planned steering wheel angles over a period of time and a steering wheel angle rate of change over the period of time. The method further includes identifying one or more first juke event qualifiers and one or more second juke event qualifiers, and identifying one or more juke events, wherein each juke event correlates to a time interval at which a first juke event qualifier and a second juke event qualifier occur within a threshold length of time from each other.