Based on a steering control input, a measured value of the steering control attribute and a measured value of the traction control attribute received by a steering application, determining: a first setpoint value of the steering control attribute; a target steering angle of the steered wheel of the vehicle. Based on receiving, by a traction application executing on the vehicle control module of the vehicle: a traction speed control input to control the traction wheel of the vehicle, and the target steering angle, from the steering application, determining, by the traction application: a second setpoint value of the traction control attribute.

A traction application executing on a vehicle control module receives a traction speed control input to control a traction wheel of the vehicle. Based on the traction speed control input, the traction application determines a first setpoint value of a control attribute related to the traction wheel. A first diagnostic supervisor receives a measured value of the control attribute related to the traction wheel, and the first setpoint value from the traction application. The first diagnostic supervisor comprises a first model of a traction system of the vehicle. Based on the first setpoint value and the first model, the first diagnostic supervisor calculates a first virtual value of the control attribute related to the traction wheel. Based on the first virtual value and the measured value of the control attribute, the first diagnostic supervisor determines a first operating condition of the traction system of the vehicle.

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 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.

A method for the automated braking and/or steering of a vehicle uses at least one sensor system for detecting the vehicle's surroundings, a potential collision object in the vehicle's surroundings, and a relative speed of the vehicle relative to the potential collision object. The activation and/or the sequence of an automated steering intervention and/or an automated braking intervention is determined based on the relative speed. The braking intervention is activated at first when the relative speed is below or equal to a predefined threshold, and the steering intervention is activated at first when the relative speed is above the predefined threshold.

An autonomous vehicle control system includes a sensing system, a remote vehicle determination system and a controller. The sensing system is disposed on a host vehicle and is configured to sense a visual condition of a driver of the host vehicle. The remote vehicle determination system is disposed on the host vehicle, and is configured to determine a position of a remote vehicle in an area adjacent the host vehicle. The controller is configured to control the autonomous vehicle control system to move the host vehicle relative to a lane marker based on the visual condition and the position of a remote vehicle.

The electronic steering device and the operating method thereof according to the present disclosure change the traveling direction of a vehicle using the same steering control method as that is a case where the vehicle is not operated in the autonomous driving mode even when the vehicle is operated in the autonomous driving mode, and thus vehicle safety can be improved since there is no movement difference between the steer wheel feedback actuator (SFA) and the road wheel actuator (RWA) during the mode switching process.

A driver assistance apparatus includes a neutral point learning calculator. The neutral point learning calculator sets a neutral point learning correction value by which a neutral point of a steering angle instruction value is to be corrected. The neutral point learning calculator includes: a first estimated lateral acceleration calculator that calculates a first estimated lateral acceleration based on a steering angle and a vehicle speed; a second estimated lateral acceleration calculator that calculates a second estimated lateral acceleration, based on the vehicle speed and a lane curvature; a lateral acceleration difference calculator that calculates a lateral acceleration difference based on a difference between the first and the second estimated lateral accelerations; a steering angle difference calculator that calculates a steering angle difference, based on the lateral acceleration difference; and a neutral point learning correction value setter that sets the steering angle difference to the neutral point learning correction value.

A wheel action-based active suspension damping adjustment apparatus recognizes wheel actions through a steering apparatus, distance measuring apparatuses and force sensors and calculates an action damping magnitude according to damping parameters determined by different wheel actions, thereby achieving optimal adjustment under different actions. The changes in an inclination angle of a vehicle cabin floor and a vertical acceleration are monitored by using an inclination angle sensor and acceleration sensors, and meanwhile, an inclination angle damping and an acceleration damping are determined according to exceeding amplitudes, and a total damping of active suspensions is fed back and corrected, thereby further enhancing an adjustment and control effect of the active suspensions. According to the method, basic damping, action damping, inclination angle damping and acceleration damping data is output and recorded, and classified according to a vehicle state and the wheel actions, data changes under a same classification are compared.

Methods and apparatus to adjust a steering angle of a vehicle in a self-driving mode are described herein. An example vehicle disclosed herein includes a steering controller including instructions and programmable circuitry to execute the instructions to access a path follower (PF) angle request, generate a virtual boost curve (VBC) angle request based on a torque input to a steering wheel, determine an angle blending weight based on the torque input and a speed of the vehicle, determine a final angle request based on the PF angle request, the VBC angle request, and the angle blending weight, and convert the final angle request to a torque request to be used to adjust a steering angle of the vehicle via a motor.