Provided are self-powered actively steerable converter dollies (SPASCDs) for long combination vehicles (LCVs), LCVs utilizing SPASCDs, and methods of operating such LCVs. These SPASCDs could be used with conventional tractors and/or specifically configured tractors. A SPASCD may include an electrical drive, which can generate power (e.g., to charge SPASCD's battery) or generate torque using the electrical power stored in SPASCD's battery (e.g., to assist the tractor during acceleration or going uphill). The SPASCD also comprises steerable wheels and a steering component, configured to change the steering angle of the steerable wheels. The steering angle may be changed in response to various inputs, such as the steering angle of the tractor's front steerable wheels, the steering angle of the steerable wheels of another trailer in the same LCV, sensor inputs, and the like. This steering feature allows change the track of the SPASCD, e.g., to follow the tractor's track.

Provided are a vehicular motion control device and method such that, even when a vehicle is turning, the target trajectory can be followed while maintaining traveling stability, with a reduced sense of incongruity felt by the driver. This vehicular motion control device is equipped with: a target trajectory acquisition unit that acquires a target trajectory for a vehicle to travel; and a speed control unit that increases or decreases the longitudinal acceleration generated in the vehicle, the longitudinal acceleration being positive in the vehicle travel direction. If the vehicle deviates from the target trajectory during turning, the speed control unit performs longitudinal acceleration control to increase or decrease the longitudinal acceleration.

A set of driving scenarios are determined for different types of vehicles. Each driving scenario corresponds to a specific movement of a particular type of autonomous vehicles. For each of the driving scenarios of each type of autonomous vehicles, a set of driving statistics is obtained, including driving parameters used to control and drive the vehicle, a driving condition at the point in time, and a sideslip caused by the driving parameters and the driving condition under the driving scenario. A driving scenario/sideslip mapping table or database is constructed. The scenario/sideslip mapping table includes a number of mapping entries. Each mapping entry maps a particular driving scenario to a sideslip that is calculated based on the driving statistics. The scenario/sideslip mapping table is utilized subsequently to predict the sideslip under the similar driving environment, such that the driving planning and control can be compensated.

A system controls steering of a motor vehicle in case of an imminent collision with an obstacle. The vehicle includes a system to locate the vehicle relative to its lane and to determine a lateral deviation from the lane center, a determination unit for determining the presence of obstacles, a gyrometer for measuring the rotation speed of the vehicle, and a steering device, the steering angle of which can be controlled based on the measurement of a steering angle sensor or the steering torque of which can be controlled. The control system includes a perception device for determining the maximum lateral distance available for movement of the vehicle relative to obstacles, a decision device for transmitting a correction request based on the trajectory of the vehicle and on the lateral maximum distance, and an intervention device for controlling the steering device to correct the trajectory of the vehicle.

A vehicle is configured to travel, when a vehicle velocity is within a velocity range from not less than a first velocity of at least zero to not more than a second velocity larger than the first velocity, in a mode in which a vehicle body is leaned by a lean mechanism according to an input into an operation input unit, and a wheel angle of a turn wheel changes following a lean of the vehicle body. A natural frequency of roll oscillation of the vehicle body is either within a range of smaller than a reference frequency or within a range of larger than the reference frequency, the reference frequency being a frequency at which oscillation of the wheel angle of the turn wheel has phase delay of 90 degrees relative to the roll oscillation of the vehicle body in its width direction.

A damage reduction device according to an embodiment of the present technology includes an input unit, a prediction unit, a recognition unit, and a determination unit. The input unit inputs status data regarding a status in a moving direction of a moving body apparatus. The prediction unit predicts a collision with an object in the moving direction on the basis of the status data. The recognition unit recognizes whether the object includes a person. The determination unit determines, when the collision with the object is predicted and it is recognized that the object includes a person, a steering direction of the moving body apparatus in which a collision with the person is avoidable, on the basis of the status data.

A method is provided to control a power steering device and an adaptive damping system of a motor vehicle. The power steering device makes available a mechanical steering angle range that is limited by steering stops. The adaptive damping system makes available a variable damping force. The damping force of the adaptive damping system is increased and a maximum achievable steering angle is simultaneously increased in case a steering stop is reached.

Example accident attenuation systems and methods are described. In one implementation, a method determines a speed of a second vehicle approaching from behind a first vehicle and determines a distance between the first and second vehicles. The method also determines whether the second vehicle can stop before colliding with the first vehicle. If the second vehicle cannot stop before colliding with the first vehicle, the method takes action to attenuate the potential collision by applying full brake force, tightening seat belts, and/or turning the front wheels of the first vehicle to direct the first vehicle away from oncoming traffic.

A method for assisting a driver of a motor vehicle combination with a towing vehicle and a trailer is described. A width of the motor vehicle combination is determined and a traffic lane is detected. A space required by the motor vehicle combination when travelling is predicted. A nominal track for the towing vehicle is calculated such that the motor vehicle combination remains inside the traffic lane. A computer software product, a lane departure warning system and a towing vehicle are also described.

A method for controlling in real time the path of a motor vehicle travelling in a traffic lane includes detecting a corner in the traffic lane, then, when the vehicle enters the corner, determining first and second quantities for a plurality of successive sampling increments, based on state variables characteristic of the movement of the vehicle, determining a first stored value dependent on the first quantity determined in the current sampling increment and one of the preceding sampling increments, determining a second stored value dependent on the second quantity determined in the current sampling increment and one of the preceding sampling increments, saving the first and second stored values determined for each sampling increment, then, when the vehicle exits the corner determining a value of the understeer gradient depending on the saved first and second stored values, and determining a command for the vehicle based on the understeer gradient.