In motion control in the present invention, operation amounts relating to braking and drive are set as a control command when a difference between a physical quantity relating to a target vehicle attitude which is based on a target trajectory and a physical quantity relating to a linear model vehicle attitude which is based on a linear model of a vehicle exceeds a threshold value, operation amounts relating to braking and steering are set as the control command when the difference is equal to or smaller than the threshold value, and an attitude of the vehicle in a yaw direction is controlled based on the control command.

A control device includes an electronic control unit configured to expand a first detection range at least in front of a host vehicle during execution of current first steering control, determine whether next first steering control is needed to be implemented and whether a relative direction of a next second object with respect to the host vehicle is the same as a relative direction of a first object with respect to the host vehicle when the second object is detected, and perform relaxation steering control based on a target value smaller in absolute value than a return target value after an end of the current first steering control when the implementation of the next first steering control is determined to be needed and the relative directions with respect to the host vehicle are determined to be the same between the second and the first object.

A control method is provided for controlling a lateral position of a motor vehicle. The control method includes calculating a sighting distance of a detector means embedded in the vehicle, calculating a first component of a steering angle setpoint of a steered wheels of the vehicle, and calculating a second component of the steering angle setpoint. The first component is an open loop component of a control system, while the second component is a closed loop component of the control system. The first component is weighted by a gain that is a decreasing function of the sighting distance.

A vehicle lane change control apparatus includes a condition information acquisition unit that acquires condition information of an occupant of a vehicle, a lane change rate database unit that stores a lane change rate that is determined based on a lane change pattern of a driver analyzed based on driving information when a lane of the vehicle is changed and road condition information when the lane of the vehicle is changed and indicates a speed of the lane change, and a control unit that changes the lane of the vehicle through steering control according to operation information of the vehicle, and based on the condition information of the occupant acquired by the condition information acquisition unit, controls the lane change of the vehicle by selectively using the lane change rate and a corrected lane change rate determined by increasing or decreasing the lane change rate.

Techniques are described for using variables associated with vehicle wheels (e.g., linear velocity at a wheel and orientation of the wheel) to estimate velocity of a vehicle during a turn maneuver. In examples of the disclosure, in association with one or more wheels, a wheel orientation during the maneuver and a linear speed during the maneuver may be determined, and well as a yaw rate (e.g., from an inertial measurement unit, gyroscope, etc.) of the vehicle. Examples of the present disclosure include, based on the variables associated with the wheel(s) and the yaw rate associated with the turn maneuver, estimating a vehicle velocity, which may be used by various downstream components, such as to determine or update a pose of a vehicle as part of a localization operation.

The present invention provides a travel support system of a vehicle, including a detection unit configured to detect information of a periphery of the vehicle, a control unit configured to perform travel support control based on the information detected by the detection unit, and a stationary state control unit configured to cause the vehicle to be stationary at one of completion and suspension of the travel support control by the control unit, wherein the stationary state control unit performs steering control to maintain a steering angle at one of the completion and suspension of the travel support control while the vehicle is stationary.

The disclosure generally describes a system and method for determining a preferred steering wheel rate in autonomous and semi-autonomous driving systems that includes measuring a torque applied to the steering wheel by a driver during an autonomous driving mode, measuring the steering wheel position, measuring the steering wheel rate of rotation, wherein the steering position and rate of rotation are measured at the time when the torque was applied to the steering wheel, determining a preferred steering wheel rate of rotation, and adjusting the steering wheel rate of rotation during an autonomous driving maneuver to include the preferred steering wheel rate.

A system for securing the parking of an automobile vehicle parked on a parking area (Z), the vehicle including two steering wheels, and a actuator to modify the orientation of the steering wheels without the action of the driver, the system including a control unit (UC), a system for detecting a parked state of the automobile vehicle, a sensor for detecting the slope of the parking area, sensor for determining the orientation of the steering wheels with respect to the axis of the vehicle, the control unit (UC) being configured to determine the orientation of the steering wheels to put the vehicle in a decreased danger configuration in case of an unwanted movement of the vehicle, and to sending an instruction to the actuator to orientate the steering wheels according to the orientation determined by the control unit (UC).

The disclosure relates to assessing and responding to wheel slippage and estimating road friction for a road surface. For instance, a vehicle may be controlled in an autonomous driving mode in order to follow a trajectory. A wheel of the vehicle may be determined to be slipping such that the vehicle has limited steering control. In response to determining that the wheel is slipping, steering of one or more wheels may be controlled in order to orient the one or more wheels towards the trajectory in order to allow the vehicle to proceed towards the trajectory when the wheel is no longer slipping. In addition, the road friction may be estimated based on the determination that the wheel is slipping. The vehicle may be controlled in the autonomous driving mode based on the estimated road friction.

The subject disclosure relates to features that improve safety for autonomous vehicle (AV) maneuvers and in particular, that improve safety for parallel parking. A process of the disclosed technology includes steps for initiating a parking maneuver, navigating the AV into a parking location, and detecting a roadway grade with respect to a direction of the AV. In some aspects, the process can further include steps for automatically adjusting a wheel angle of the AV based on the roadway grade with respect to the direction of the AV. Systems and machine-readable media are also provided.