Provided are a travel assist device capable of producing, in a preferred manner, warning vibrations notifying deviation of a vehicle with respect to a travel path, and a method of controlling the same. A travel assist device includes a travel assist control device that notifies a driver about an anti-deviation direction or a deviation direction by making a steering angular acceleration in the deviation direction and the steering angular acceleration in the anti-deviation direction different from each other when producing warning vibrations, wherein a time-derivative value of a steering angle of a steering wheel is defined as a steering angular velocity, and a time-derivative value of the steering angular velocity is defined as the steering angular acceleration.

A steering application executing on a vehicle control module receives a steering control input to control a steered wheel of a vehicle. Based on the steering control input, the steering application determines a traction threshold value associated with a traction control attribute related to a traction wheel of the vehicle. A first diagnostic supervisor executing on the vehicle control module receives a measured value of the traction control attribute and the traction threshold value. When the measured value of the traction control attribute exceeds the traction threshold value, the first diagnostic supervisor repeatedly calculates a respective difference between the traction threshold value and the measured value of the traction control attribute to generate a set comprising a plurality of the respective differences. Based on the plurality of respective differences, the first diagnostic supervisor determines a first operating condition of a traction system of the vehicle.

A method for automatically controlling a vehicle includes giving a reference local path and a potential speed of the vehicle. The method also includes calculating a stirring angle automatic setpoint that makes it possible to calculate a lateral acceleration proportional to the square of the potential speed of the vehicle, making the vehicle describe an arc of a circle including a point of intersection with the reference local path at a distance from the vehicle. A speed setpoint is generated and set to a value equal to that of the potential speed when the lateral acceleration has a value lower than a maximum permissible lateral acceleration value and the value of the potential speed is decreased when the lateral acceleration has a value higher than or equal to the maximum permissible lateral acceleration value so as to calculate a reduced lateral acceleration by repeating the calculating.

A vehicle steering control apparatus obtains lane information of a traveling lane and performs, based on the lane information, a steering control. The vehicle steering control apparatus includes a first-target-control-amount calculator, a second-target-control-amount calculator, a limit value calculator, and a steering control executing unit. The first-target-control-amount calculator calculates, based on image information, a target control amount of the steering control as a first target control amount. The second-target-control-amount calculator calculates, based on own vehicle position information and map information, a target control amount of the steering control as a second target control amount. The limit value calculator calculates a limit value of the first target control amount, based on the second target control amount as a reference. The steering control executing unit limits the first target control amount by the limit value, and executes the steering control, based on the limited first target control amount.

To provide an optimal calculation apparatus which can reduce the calculation using the evaluation elements, such as constraint condition, in the initial calculation using the initial value when solving the optimization problem. An optimal calculation apparatus sets an initial value of an input variable of a specific type by switching a plurality of setting methods so that an evaluation element of an object type relevant to the input variable of the specific type can be excluded from the optimization problem in an initial calculation using the initial value; and in the initial calculation using the initial value, excludes the evaluation element of the object type relevant to the input variable of the specific type from the optimization problem, and performs calculation for solving the optimization problem.

A method of automatically aligning wheel corner assemblies (WCAs) of a vehicle platform may include: measuring, by sensors of at least one of front WCAs, rear WCAs, a vehicle platform, or any combination thereof, a set of parameters; determining, by a computing device, steering angles for wheels of the front WCAs and wheels of the rear WCAs to drive the vehicle platform in a zero yaw rate and/or a zero thrust angle based on the measured set of parameters; and controlling, by the computing device, steering actuators of the front WCAs and the rear WCAs based on the determined steering angles to drive the vehicle platform in the zero yaw rate and/or the zero thrust angle.

A vehicle includes vehicle devices configured to adjust a lateral movement amount of the vehicle, and a steering wheel lock mechanism. The vehicle devices include a front-wheel steering device and a remaining device that is a device other than the front-wheel steering device. When there is an anomaly in the front-wheel steering device, a vehicle control device switches a state of the steering wheel lock mechanism from a deactivated state to an activated state. The control device adjusts the amount of lateral movement of the vehicle by activating the remaining device when rotation of the steering wheel is disabled.

A method for planning a driving maneuver trajectory is disclosed. The method includes 1) evaluating a current driving situation; 2) ascertaining an adapted driving maneuver based on the evaluated driving situation; 3) calculating a number of working points of the trajectory on the basis of the evaluated driving situation and the ascertained driving maneuver; 4) discretizing the current surroundings information and/or vehicle information at each of the working points of the trajectory; 5) selecting and integrating relevant surroundings data for each working point based on domain-specific information; 6) linearizing the selected and integrated surroundings data; 7) using the linearized surroundings data to formulate a QP model; 8) solving the QP model by means of a QP solver; and 9) repeating 1) to 8) on the basis of a convergence of the solution, wherein upon repeating steps 1) to 8), the solution of the QP solver is taken into consideration.

A control device for causing a vehicle to travel by autonomous driving based on a target path calculated based on a current position on map data of a vehicle estimated by a map data, a behavior detection sensor, and an external detection sensor, wherein a current position of the vehicle is estimated by correcting a position on map data of the vehicle in accordance with a relative position of the vehicle on a roadway, a correction amount at that time is obtained, a change in a correction amount is predicted by map data and an external detection sensor, and a control gain in a control input when the vehicle is caused to travel by autonomous driving is changed in accordance with the change, thereby changing a characteristic of the traveling control.

A method of reversing a trailer along a defined path according to a disclosed exemplary embodiment includes, among other possible things, detecting a deviation from a predefined path of a trailer coupled to a tow vehicle with a sensor system disposed within the tow vehicle, determining a correction path required to move the trailer back to the predefined path, determining a dampening factor for limiting deviation from the predefined path, combining the determined correction path and the dampening factor to determine a desired curvature, wherein the desired curvature represents a path from a current position of the trailer to the predefined path, and determining a steering angle of the tow vehicle that provides the desired curvature.