Embodiments relate to method for a vehicle comprising, retrieving data from one or more sensors positioned on a tractor of the vehicle, wherein the tractor is mechanically coupled using a mechanical coupling to a trailer forming a tractor-trailer system, determining based on the data retrieved from the one or more sensors a lateral acceleration parameter of the tractor, and controlling based on the lateral acceleration parameter of the tractor a steering angle of steered wheels of the tractor such that lateral acceleration of the vehicle is held below a threshold lateral acceleration; and wherein the threshold lateral acceleration is selected such that rollover of one or more of the tractor and the trailer is avoided.

A method for approximating a friction value includes: determining a load characteristic; determining a setpoint variable of the vehicle; determining a manipulated variable expected value specifying a predicted value of a manipulated variable to be provided to set the setpoint variable, wherein the determination of the manipulated variable expected value is performed using the load characteristic; determining an actual variable corresponding to the setpoint variable; determining a manipulated variable actual value, which is provided at the steering system, in order to modulate the actual variable; determining a manipulated variable deviation between the manipulated variable expected value and the manipulated variable actual value; and/or determining a setpoint-actual deviation between the setpoint variable and the corresponding actual variable; approximating the friction value based on the determined load characteristic and based on the determined manipulated variable deviation and/or the determined setpoint-actual deviation. A driver assistance system is configured to carry out the method.

The invention relates to a method for autonomously controlling actuators of an automotive machine (10) which are adapted to influence the path and the speed of said automotive machine, including steps of: acquiring a reference path that said automotive machine should follow, determining a nominal value of at least one parameter enabling the automotive machine to follow the reference path, determining a current value of each of said parameters when said automotive machine follows the reference path, determining a value difference between the current value and the nominal value of each of said parameters, then computing, with a computer, a control setpoint for each actuator, according to each value difference, by means of a corrector.

According to the invention, the corrector allows jointly computing an exclusively lateral control setpoint of the automotive machine and an exclusively longitudinal control setpoint of the automotive machine.

A computer implemented method for lateral control of a vehicle comprises the following steps carried out by computer hardware components: determining a location error of the vehicle; determining an orientation error of the vehicle; determining a cost function based on the location error and the orientation error using a circular transformation; and processing the cost function in a model predictive controller to control the vehicle laterally.

A system for controlling a vehicle combination comprising a tractor unit and at least one trailing unit is disclosed. The system has a target generator to determine a virtual control input for the vehicle combination based on a reference input for the vehicle combination. A power manager determines a power allocation input for the vehicle combination based on the reference input and a power capability of one or more units of the vehicle combination. A combination control allocator determines a control input for the vehicle combination based on the power allocation input and the virtual control input.

Embodiments herein relate to robust methodologies for autonomous parking. In one or more embodiments, an autonomous vehicle may determine the slope of a road based upon one or more inputs and a pre-defined slope definition and may also determine curb/no curb status of a parking location. Given the determined road conditions, such as slope and no curb/curb, embodiments determine wheel direction and angle that the vehicle should achieve to properly park. Embodiments also include countermeasures if one or more issues prohibit the vehicle from achieving a desired parking condition.

Methods of processing trajectories, such as for autonomous vehicles, are provided. A method may comprise receiving a trajectory and identifying a first mode or a second mode as a control mode for controlling the vehicle. The first mode comprises determining a first control value based at least in part on a time and controlling the vehicle based at least in part on the first control value. The second mode comprises determining a second control value for the vehicle based at least in part on a position of the vehicle and controlling the vehicle based at least in part on the second control value. The vehicle may be controlled in accordance with the identified control mode. In some examples the vehicle may be controlled in accordance with the first mode at a first time, and the second mode at a second time.

The disclosure relates to a method for generating a reference trajectory within a lane for a vehicle. The method comprises receiving at least one vehicle current state parameter describing a current state of the vehicle (S11). The current state of the vehicle comprises at least a current position of the vehicle. Furthermore, a destination parameter describing a destination to be reached by the vehicle (S12), and at least one route parameter describing a route for reaching the destination (S13) are received. Moreover, the method comprises estimating a power loss being caused when traveling from the current position of the vehicle to the destination (S14). The reference trajectory within the lane is determined such that it minimizes the power loss and leads to the destination (S15). Additionally, a method for operating a vehicle is presented. According to this method, a reference trajectory is generated in accordance with the above method (S21) and at least one control signal is provided for controlling a motion of the vehicle along the reference trajectory (S22). Furthermore, a data processing apparatus, a vehicle and a computer-readable medium are presented.

A method of distributed control allocation in a vehicle combination including multiple vehicle units is provided, in which a master control allocator solves a combination-specific control allocation problem to perform control allocation on a combination level, and each of a plurality of slave control allocators receives unit-specific virtual control inputs from the master control allocator and then performs control allocation on vehicle unit level to control actuators of an associated vehicle unit. A method performed in a master control allocator, a method performed in a slave control allocator, a distributed control allocation system, a master control allocator, a slave control allocator, a vehicle combination, a vehicle unit, and computer programs and computer program products are also provided.

A method performed in a control unit of a heavy-duty vehicle for estimating road friction, the method comprising, while the vehicle is in motion, generating a steering pulse having a limited time duration and a limited magnitude, measuring a response by the vehicle to the steering pulse, and estimating a road friction value based on the measured response by the vehicle.