Lateral control of a vehicle, based on surroundings sensor signals of a surroundings sensor system of a host vehicle and/or maps, combined with an instantaneous position determination, wherein the course of the instantaneously traveled roadway and the position of the host vehicle on the roadway are determined, based on the surroundings sensor signals and/or the position determination, autonomous steering interventions are made in the host vehicle, which as a result, approximate or correspond to actuations of a steering wheel of the host vehicle, or provide a driver with information concerning steering interventions, a horizon position on the instantaneously traveled roadway to which the host vehicle is to be oriented is repeatedly determined, in that, starting from an instantaneous position of the host motor vehicle, an inner tangent point situated ahead of the host vehicle on the instantaneously traveled roadway is determined, and, starting from a point on the host motor vehicle, a tangent through this inner tangent point to a point of intersection with a horizon point function is determined, and an angle is enclosed between the center longitudinal axis of the host vehicle and the tangent, and is used for determining an angle specification for the steering intervention.

An apparatus for controlling stability of a vehicle may include a controller configured to determine whether the vehicle skids or not during linear driving at a predetermined speed or more, and when skidding is determined to occur, to perform a counter steering operation to drive a steering motor in a direction to offset the skidding.

A driving assistance apparatus includes: an executor configured to perform at least one of a deceleration control and a steering control of a host vehicle, as an avoidance assistance control; a first determinator configured to determine whether or not the target is a vehicle; a second determinator configured to determine whether the target is a stopped vehicle, which has a possibility to move before the host vehicle passes it, or parked vehicle, which does not have a possibility to move before the host vehicle passes it, if it is determined by the first determinator that the target is a vehicle; and a controller programmed to control the executor to change a control aspect of the avoidance assistance control between if it is determined by the second determinator that the target is the stopped vehicle and if it is determined by the second determinator that the target is the parked vehicle.

A control system for a vehicle may include a forward-facing camera to capture a plurality of images of a road ahead of the vehicle and a processing device. The processing device may be configured to: provide feedback to a vehicle operator of the vehicle to change lanes to a new lane, in which the vehicle is not already traveling, based on the ending of a current lane, the ending of the current lane indicated by a first traffic cone identified in the plurality of images; and update a distance from the vehicle to a second traffic cone, based on a position of the vehicle, the second traffic cone used to constrain vehicle operation to the new lane.

A control system of a vehicle determines whether to require a shift from a first travel state in which an operation by a driver is not required to a second travel state in which the operation by the driver is required; makes an operation request to the driver when the shift is required; determines whether the driver has performed an operation in response to the request; and stops the vehicle in a predetermined position when the driver has not performed the operation, wherein in a case in which a lane change operation is required to stop the vehicle in the predetermined position, a speed of movement in a lateral direction at the time of the lane change operation is suppressed more than the speed of movement in the lateral direction at the time of a lane change operation performed in the first travel state.

A system having a radar-sensor configured to acquire radar-data representative of swath in an agricultural field; and a controller configured to determine swath-property-data based on the radar-data.

Systems and methods for planning and executing a sequence of lateral controls for a vehicle comprise determining a set of parameters comprising road lane lines, a pose of the vehicle, a movement state of the vehicle, and actions by a driver of the vehicle and, while operating the vehicle in an autonomous driving mode, obtaining a long-term recurrent convolutional network (LRCN) model that has been trained with training data captured during controlled test driving by a human driver, using the LRCN model and the set of parameters as inputs, determining a sequence of a plurality of desired steering wheel angles for the vehicle, and when the sequence of the plurality of desired steering wheel angles is verified via comparison to one or more mathematical models, controlling steering of the vehicle according to the sequence of a plurality of desired steering wheel angles.

The disclosed embodiments include a onboard driver distraction determination system. The determination system includes a onboard sensing and computing system(s), which includes inertial sensor(s), internal sensor(s), and external sensor(s). The onboard system samples data from the sensor(s) during a driving session to determine steering activity metrics and driver behavior. A steering activity metric is a representation of the steering inputs by the driver during the driving session. Driver behavior is a representation of how distracted the driver is during the driving session. By performing the above mentioned steps, the system can provide an analysis of driver distraction and optionally, take control of the vehicle to avoid aberrant behavior.

Various embodiments may include methods of limiting a steering command angle during operation of a vehicle. Various embodiments may include determining a speed of the vehicle, applying the determined speed to a dynamic model of the autonomous vehicle to determine a steering wheel command angle limit. Embodiments may further include determining whether a received or commanded steering command angle exceeds the steering wheel command angle limit and altering the steering command angle to an angle no greater than the maximum steering command angle if the received/commanded steering command angle exceeds the steering wheel command angle limit.

Provided is a collision avoidance support device capable of terminating traveling direction automatic control at a timing appropriate for a driver. A traveling direction automatic control unit is configured to: terminate the traveling direction automatic control when a predetermined control termination condition is satisfied at a time before an operation start time at which a vehicle starts changing a traveling direction by the traveling direction automatic control; continue the traveling direction automatic control until an appropriate driving operation enabled time at which a predetermined required reaction time passes since a time at which an alert unit starts issuing an alert, when the predetermined control termination condition is satisfied at a time after the operation start time and before the appropriate driving operation enabled time; and terminate the traveling direction automatic control when the predetermined control termination condition is satisfied after the appropriate driving operation enabled time.