A method of controlling a vehicle combination, the vehicle combination comprising a first vehicle unit, a second vehicle unit and an articulated coupling connecting the first and second vehicle units to each other, the method comprising determining a coupling force parameter of the articulated coupling based on a combination of motion related parameters obtained from the first and second vehicle units; selecting an operational envelope for the vehicle combination based on the coupling force parameter; and controlling the vehicle combination to operate within the operational envelope.

A vehicle behavior control device comprises an actuator group including one or more actuators configured to drive a vehicle having four wheels; and a vehicle behavior controller configured to control operation of the actuator group, wherein the vehicle behavior controller is configured to: apply a target motion to a two-wheeled model of a two-wheeled vehicle simulating the vehicle to calculate a velocity vector of a front wheel and a rear wheel, the velocity vector being necessary for obtaining the target motion, convert each of the velocity vector of the front wheel and the rear wheel into a centroid behavior, calculate a turning angle and a braking/driving force for each of the four wheels, based on the centroid behavior, and control the operation of the actuator group to enable each of the four wheels to output the turning angle and the braking/driving force that are calculated.

A computer-implemented method that, when executed by data processing hardware, causes the data processing hardware to perform operations comprising, determining vehicle pose data of a host vehicle, maintaining an odometry buffer with the vehicle pose data, detecting a steering maneuver of the host vehicle, determining a relative pose of the host vehicle upon initiation of the steering maneuver using the odometry buffer, formulating an odometry path for aligning a heading of the host vehicle with a heading of the relative pose, and completing the steering maneuver according to the odometry path.

According to an aspect of the present invention, a vehicle control device, a vehicle control method, and a vehicle control system obtain a first angle between the orientation of a vehicle and the travel direction of the vehicle, obtain an avoidance course for avoiding an object located ahead of the vehicle, perform first angle control for bringing the first angle closer to a predetermined reference angle when causing the vehicle to follow the avoidance course, and selects either the steering actuator alone or a combination of the steering actuator and at least one of the braking and driving actuators as a control target in the first angle control based on a physical quantity resulting from tire forces of the vehicle. This makes it possible to improve accuracy of tracking the avoidance course.

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.

The present disclosure relates to an autonomous vehicle, a control system for remotely controlling the same, and a method thereof. An exemplary embodiment of the present disclosure provides a control system including: a steering configured to be controlled by a user for steering control of an autonomous vehicle; and a processor configured to receive, from the autonomous vehicle, a remote control request, and an indication of a current steering angle of the autonomous vehicle, and synchronize, based on the indication, a steering angle of the autonomous vehicle with a steering angle of the steering.

A computer-implemented method for handling yaw instability of a vehicle is provided. The method includes a use of separate prediction models for a short-term time period and a long-term time period for predicting future steering angle information and a future longitudinal motion of the vehicle for the respective periods. The method also includes, based on the respective predicted future steering angle information and future longitudinal motion of the vehicle, estimating a respective short-term and long-term risk for yaw instability of the vehicle. The method also includes, on the basis of the estimated short-term risk and long-term risk, respectively, determining whether or not to trigger an alert and/or to trigger a preventive action for preventing a yaw instability of the vehicle.

A computer system and computer-implemented method for determining a control input for a vehicle combination comprising a tractor unit and at least one trailing unit are disclosed. The computer system has processing circuitry to acquire parameters of a manoeuvre to be performed by the vehicle combination; determine an objective for the manoeuvre based on the acquired parameters of the manoeuvre, the objective including one or more of reducing a swept path of the vehicle combination, reducing off-tracking of the vehicle combination, and reducing rearward amplification of the vehicle combination; acquire a plurality of cost functions for motion of the vehicle combination; select one the plurality of cost functions based on the determined objective for the manoeuvre; and determine one or more control inputs for the vehicle combination to perform the manoeuvre using the selected cost function.

A vehicle includes a vehicle engine, a steering control unit, an on-board sensor network and a navigational constraint control system. The vehicle engine generates a torque output of the vehicle. The steering control unit controls a steering angle of the vehicle. The on-board sensor network is programmed to detect external objects within a detection zone. The navigational constraint control system has a memory for storing a path index for the vehicle's navigation. The processor is programmed to determine a reference trajectory from the path index. The processor is further programmed to calculate navigational constraints for the determined reference trajectory to determine a nominal trajectory based on information detected by the on-board sensor network. The processor is programmed to control at least one of the vehicle engine and the steering control unit in accordance with the nominal trajectory.

A method for a driving automation system function for a motor vehicle includes capturing driving maneuver information; determining, on the basis of the driving maneuver information, a planned trajectory with a stopping location, at which the motor vehicle comes to a standstill according to the planned trajectory, wherein the planned trajectory with the stopping location describes a curvature; determining, on the basis of the curvature, a steering angle related to the stopping location; determining, on the basis of the steering angle, an adjusted trajectory with a reduced target steering angle compared to the steering angle; and outputting a control signal for controlling the driving automation system function to follow the adjusted trajectory.