Embodiments of the present application discloses a vehicle control method and apparatus, an electronic device and a storage medium, the vehicle includes at least one steering wheel, and the method includes: detecting a first distance between the vehicle and a first track, and a second distance between the vehicle and a second track, determining, according to the first distance and the second distance, offset information of a symmetrical centerline of the vehicle relative to a track centerline, determining, according to the offset information and position information corresponding to the to-be-controlled steering wheel, a first rotation angle control quantity of a to-be-controlled steering wheel, and controlling, according to the first rotation angle control quantity, rotation of the to-be-controlled steering wheel, such that during travel of the vehicle, the symmetrical centerline of the vehicle overlaps with the track centerline.

It is an object of the present disclosure to provide a travel path generation apparatus and a travel path generation method enabling generation of a travel path not including a curve having a small radius of curvature. A travel path generation apparatus according to the present disclosure includes: a parameter determination unit to determine a cutoff frequency based on spacing between points of a sequence of points each having location information and a predetermined threshold of a radius of curvature, the sequence of points representing a shape of a lane in which a vehicle travels in a two-dimensional or three-dimensional Cartesian coordinate system; and a filtering unit to perform low-pass filtering using the cutoff frequency determined by the parameter determination unit on the location information of each of the points of the sequence of points.

The disclosure relates to a sensor correction device and method. Specifically, a sensor correction device according to the disclosure comprises a receiver receiving image information and a first steering angle from a plurality of image sensors and a steering angle sensor (SAS), respectively, an object detector detecting an object from the image information and detecting a position of the object, a comparator comparing a second steering angle calculated based on a position change amount of the object with the first steering angle, and a controller applying an SAS correction value according to the position change amount of the object to the first steering angle when a difference between the first steering angle and the second steering angle is larger than or equal to a first reference value.

The present disclosure discloses a system and a method for controlling an operation of a system subject to an uncertainty of an operation variable of the system. The method comprises collecting a number of samples of the uncertainty of the operation variable, constructing, based on the collected samples, an empirical quantile function associated with the uncertainty of the operation variable, determining confidence bounds on the empirical quantile function to bound an approximation error between the empirical quantile function and a true quantile function, determining an uncertainty set based on the empirical quantile function bounded by the confidence bounds, reformulating, based on the uncertainty set, a chance constraint into a deterministic constraint, solving an optimal control problem subject to the deterministic constraint to produce one or more control commands to one or more actuators of the system, and controlling the operation of the system based on the control commands.

A method for an autonomous parking control apparatus includes determining whether a curb exists in an autonomous parking space for a vehicle; storing a position of the curb when the curb exists; determining whether steering control of the vehicle is required at the curb; and controlling autonomous parking of the vehicle by adjusting Motor Driven Power Steering (MDPS) steering angle to 0 when no steering control is required at the curb.

The vehicle control device includes an arbitration unit configured to arbitrate between a plurality of control commands acquired from a plurality of driving support applications that respectively implements driving support functions, configured to output instructions based on a control command after arbitration to a first control unit that is able to control a steering actuator and a second control unit that is able to control at least one of a brake actuator or a drive actuator, and configured to acquire a steering angle and a yaw rate as the control commands from the driving support applications.

A method controls a motor vehicle equipped with at least two perception sensors to avoid a target. The control method includes: determining data of the sensors, fusing the data of the sensors so as to determine the steering wheel angle, the vehicle speed and the vehicle heading, planning an avoidance path to avoid the target, taking the form of a Euler spiral, refining the avoidance path depending on the steering wheel angle, on the vehicle speed and on the vehicle heading and based on the solution of an optimisation problem, controlling the vehicle so as to follow the refined path, the refining the path including honing the avoidance path depending on the path length, on the direction of steering wheel rotation and on the final heading and refining the honed trajectory depending on the initial heading and on the direction of steering wheel rotation.

The vehicle behavior control device comprises a processor; and a memory, wherein the processor is configured to: obtain a front wheel path; calculate a front wheel curvature that is a curvature of the front wheel path at each of a plurality of front wheel passing points constituting the front wheel path; sequentially calculate, for each of the plurality of front wheel passing points, a rear wheel steering angle at which a curvature of a rear wheel path coincides with the curvature of the front wheel path at each of the plurality of front wheel passing points; and control driving of the front wheel and driving of the rear wheel based on the rear wheel steering angle that is calculated and a front wheel steering angle.

A vehicle control method of an embodiment includes recognizing, by a computer, a surrounding situation of a vehicle, detecting, by the computer, a steering state of an occupant, executing, by the computer, avoidance steering assistance so that the vehicle travels along an avoidance target trajectory for avoiding an obstacle when it is determined that the vehicle is likely to come into collision with the obstacle on the basis of the recognized surrounding situation of the vehicle, and suppressing, by the computer, the avoidance steering assistance for the avoidance target trajectory when a steering operation of the occupant has been detected while the avoidance steering assistance is being executed.

The weigh of a vehicle body may be shifted onto selected wheels using the adjustable suspension systems of the vehicle to induce an undulating motion sequence of the vehicle. This may aid the vehicle to regain traction when a wheel is stuck. A first wheel may be turned in a first direction and more of the vehicle weight may be shifted onto the first wheel, while spinning one or more wheels, then this may be repeated for each wheel of the vehicle sequentially. More or less torque may be applied to the wheel onto which more of the vehicle's weight is shifted. The four-wheel sequence may be done at a predefined cadence and repeated as necessary. Also, based on terrain depth sensor signaling, an optimal weight distribution of the vehicle may be determined to aid vehicle movement on a hilly or off-road terrain.