A vehicle includes a front axle having left and right front wheels and a rear axle having left and right rear wheels. A steering-wheel assembly is used to control at least the front wheels. Left and right driver-actuatable inputs are supported by the steering wheel assembly. A vehicle controller is programmed to, responsive to actuation of the driver-actuatable inputs, place the vehicle in one or more operating modes such as tank turn, trail turn assist, or diagonal driving mode.

A device for controlling a behavior of a vehicle identifies sensing data including at least one of a travel state of a host vehicle, an operation signal for the host vehicle, a lateral force acting on the host vehicle caused by cross-wind, or any combination using a sensor. The device also identifies an intention determination value related to an intention of a user using at least some of the sensing data. The device also identifies at least one of a braking control amount, a steering control amount for the host vehicle, or any combination using at least some of the sensing data when the sensing data and the intention determination value satisfy specified conditions. The device also compensates for a behavior of the host vehicle based on the braking control amount, the steering control amount, or any combination.

A signal processing device and a vehicle control device including the same according to an embodiment of the present disclosure includes a processor configured to receive a vehicle internal image from an internal camera, wherein the processor is configured to calculate a forward attention level of a driver based on the vehicle internal image, calculate a time to forward collision or a time to avoid forward collision with an object in front of a vehicle, and change a control time point of forward collision avoidance based on the forward attention level and the time to forward collision or the time to avoid forward collision. Accordingly, adaptive vehicle control may be performed according to the forward attention level of the driver.

An automatic moving device according to the present disclosure is an automatic moving device that is used in a delivery system for delivering an article and automatically moves the article. The automatic moving device includes a driving section configured to drive a wheel, a detection section configured to detect an obstacle of a road surface, and a control section configured to control the driving section so that the automatic moving device is moved in an oblique direction with respect to a groove when the groove is detected as the obstacle of the road surface, and control the driving section so that the automatic moving device is moved in a direction orthogonal to a step when the step is detected as the obstacle of the road surface.

Systems and methods are provided for improved stability of a towed vehicle by mitigating disturbances due to external conditions that may negatively impact the stability. Examples mitigate these disturbances by controlling vehicle systems of the towed vehicle based on recognizing an onset of a disturbance. For examples, the systems and methods can control one or more wheels of the towed vehicle in a manner selected to counteract the disturbances, thereby mitigating negative impact resulting therefrom.

A vehicle control device includes an arbitration unit configured to acquire steering angles and yaw rates as control commands from multiple driving support applications, each executed by a separate electronic control unit. The arbitration unit selects a control command from the acquired steering angles and yaw rates based on a predetermined criterion, derives a lateral momentum from the selected command, and outputs instructions based on the derived lateral momentum. These instructions are sent to a first control unit that controls a steering actuator and a second control unit that controls at least one of a brake actuator or a drive actuator.

A system for steering a vehicle, and a method therefor are provided. The system includes a steering module, a user terminal mountable on and dismountable from the steering module, a vehicle corner module provided for each of wheel of the vehicle so that steering of each of the wheels may be independently operated, and a processor to independently control steering of each of the wheels through the vehicle corner module based on steering information received from the user terminal.

A method for operating a vehicle (1), comprising: receiving (S1) sensor data (S) of a sensor system (3) of the vehicle (1), the sensor data (S) including a current steering-angle () and steering-angle velocity (W) of the vehicle (1) driving on a road (14) with a curve (13), determining (S2) a radius ahead R.sub.A of the curve (13) at a position ahead (P2) that the vehicle (1) will reach in a predetermined time span T based on an odometry-based radius ahead R.sub.O by the equation: $R_O=R_C-T\left[\left(L.Math.W\right)/({\sin }^2\left(\right)\right],$ wherein L is a distance between front and rear wheels (17, 18) of the vehicle (1) and R.sub.C is a radius of the road (14) at the current position (P1) of the vehicle (1), and performing (S6) a curvature control function based on the determined radius ahead R.sub.A.

A method and an apparatus of correcting steering of a driving vehicle associated with autonomous driving determine a current driving mode of the driving vehicle among a plurality of driving modes, determine whether a driver performs the steering of the driving vehicle when the determined current driving mode is an autonomous driving mode, set an additional target rack position input to a road wheel actuator, and correct a steering direction of the driving vehicle.

A method for vehicle lane centering includes determining a speed profile over a predetermined period of time to maintain a predetermined speed while a vehicle moves within a lane of a road. The road has a road curve. The predetermined period of time includes a current time and a future time. The method further includes determining a curvature of a vehicle path along the road curve of the road and determining an error of a steering angle command using the speed profile and the curvature of the vehicle path along the road curve of the road. Further, the method further includes determining a variable velocity feedforward control command using the error on the steering angle command and controlling the vehicle using the variable velocity feedforward control command.