A vehicle control device (100) including a recognition unit (130) that that is configured to recognize a peripheral situation of a vehicle and a driving control unit (140, 166) that that is configured to control at least steering of the vehicle on the basis of a result of recognition acquired by the recognition unit, and, in a case in which the recognition unit is configured to recognize a road surface inclination area in which a gradient toward a lower side in a vertical direction is formed from a flat part of the road toward a road end, which is disposed at the road end of an advancement direction of the vehicle, and the vehicle is running on the road surface inclination area, the driving control unit is configured to adjust a steering angle of the vehicle in a direction in which the vehicle is away from the road end on a side on which the road surface inclination area is present.

A system for controlling a vehicle having an autonomous mode and a semi-autonomous mode includes one or more processors and a memory in communication with the one or more processors. The memory stores a command generating module and a transmission module. The command generating module causes the one or more processors to generate, in response to an input, at least one control signal for controlling the vehicle by an envelope control system. The envelope control system utilizes a common control scheme for both the semi-autonomous mode and the autonomous mode, wherein the input is a driver input when the vehicle is in the semi-autonomous mode and the input is a pseudo-driver input when the vehicle is in the autonomous mode. The transmission module causes the one or more processors to transmit the at least one control signal to a vehicle motion controller, wherein the vehicle motion controller controls the movement of the vehicle.

Systems and methods for controlling a vehicle. The system includes a plurality of sensors and an electronic controller. The electronic controller is configured to receive data from the plurality of sensors and determine a target vehicle travel direction of the vehicle based on the received data. The electronic controller then determines a heading error based on the target travel direction, determines a heading error derivative, and generates a vehicle control command based on the heading error and the heading error derivative.

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.

Mappings of keys to actions can automate various vehicle systems. Some automations can provide lane departure warnings. Keys for lane departure mappings can specify vibration patterns expected when a vehicle drives over lane delineators. These vibration-based mappings can include keys with vibration patterns, e.g., defining vibration frequencies or vibration locations. Keys for emergency light mappings can be based on conditions such as (1) the vehicle being on the road, stopped, not in traffic, and not at a stop signal; (2) components of the vehicle having failed; or (3) weather conditions.

A method for terminating driving on the road shoulder by a transportation vehicle includes detection by a detection unit that the transportation vehicle is situated at least partially on a road shoulder, determination of a steering intensity of a manual steering maneuver, and assignment of one of at least two predetermined steering codes to the steering maneuver by a computing unit as a function of the steering intensity. An automatic intervention into a transportation vehicle control is carried out as a function of the assigned steering code.

A safety and stability control method against automobile tire blowout, which is used for manned and unmanned driving vehicles and based on vehicle braking, driving, steering and suspension systems. The present method establishes tire blowout determination based on a tire pressure detection mode, a status tire pressure mode and a steering mechanics state mode, and uses a safety and stability control mode, model and algorithm, and control structure and process against automobile tire blowout. On the basis of a tire blowout state point, the vehicle braking, driving, steering, steering wheel steering force and suspension balancing control are carried out in a coordinated manner by entering and exiting a tire blowout control state and switching between a normal mode and a tire blowout control mode, so as to realize tire blowout control in which real or unreal tire blowout processes overlap. In cases where a tire blowout process state and the motion states of the wheel and vehicle with a blown tire are changed rapidly, the technical difficulties of the wheel and the vehicle being seriously unstable due to tire blowout and the extreme tire blowout state being difficult to control are overcome, solving the safety technical problems associated with automobile tire blowout.

A parking control device includes a detector and a determiner. The detector receives, from an ultrasonic sensor which transmits an ultrasonic wave and receives a reflected wave corresponding to the ultrasonic wave, a signal based on the reflected wave. The detector further detects a detection point group being an aggregate of a plurality of detection points of two parked vehicle groups adjacent to a parking space between the two parked vehicle groups, based on the signal. The determiner determines whether the parking space is an end-on parking space or a parallel parking space based on a position of at least a depression shape in at least a contour pattern being a pattern of the detection point group.

A system for analyzing the environment of a vehicle i) receives a plurality of data from at least one sensor associated with a vehicle, such that the plurality of data includes at least one environmental condition at a location; (ii) analyzes the plurality of data to determine the at least one environmental condition at the location; (iii) determines a condition of a building at the location based upon the at least one environmental condition; (iv) determines an insurance product for the building based upon the determined condition associated with the building; and (v) generates an insurance quote for the insurance product. As a result, the speed and accuracy of insurance providers learning about potential clients and the conditions of the potential client's property and needs is increased.

The present disclosure provides a method and an apparatus for autonomously driving a vehicle. The method includes: recognizing a centerline of a lane on which a current vehicle is driving; acquiring a lateral distance between the current vehicle and the centerline of the lane, and a real-time speed and a real-time motion curvature of the current vehicle; calculating the lateral distance, the real-time speed, and the real-time motion curvature, based on a preset first spiral line equation, to acquire parameters of a reference spiral line; calculating the parameters, the real-time speed, and the real-time motion curvature, based on a preset second spiral line equation, to acquire a current spiral line; and determining an steering angle instruction of a steering wheel based on a first curvature of the current spiral line; and controlling the current vehicle for autonomous driving based on the steering angle instruction.