A vehicle includes vehicle devices configured to adjust a lateral movement amount of the vehicle, and a steering wheel lock mechanism. The vehicle devices include a front-wheel steering device and a remaining device that is a device other than the front-wheel steering device. When there is an anomaly in the front-wheel steering device, a vehicle control device switches a state of the steering wheel lock mechanism from a deactivated state to an activated state. The control device adjusts the amount of lateral movement of the vehicle by activating the remaining device when rotation of the steering wheel is disabled.

An autonomous vehicle includes a system for operating the vehicle. A slip angle sensor measures a slip angle of a wheel of the autonomous vehicle. An accelerometer measures an acceleration of the autonomous vehicle. A steering actuator controls a steering angle of the autonomous vehicle. The processor determines a road friction coefficient of the at a selected prediction step, calculates a normal force for the autonomous vehicle from the acceleration, determines a wheel stiffness for the wheel for the normal force at the slip angle using the road friction coefficient based on a tire model for the wheel, calculates a steering command for the autonomous vehicle using a model predictive control having the wheel stiffness as input, and controls the steering actuator using the steering command to steer the autonomous vehicle.

A parking assistance system for a vehicle includes a route learning part configured to learn a parking route based on a route that the vehicle has traveled from a learning start point until the vehicle is parked at a learning end point; and a route tracking part configured to control the vehicle so that the vehicle enters the selected parking route and travels the selected parking route from an entering point which corresponds to the learning start point to a target point that corresponds to the learning end point.

Disclosed is a computer-implemented method for determining a lane/road keeping maneuver of a host vehicle. The computer-implemented method includes determining at least one traveling trajectory of the host vehicle. The method includes detecting a lane boundary of a lane or a road boundary of a road that the host vehicle is traveling. The method includes determining, based on the at least one traveling trajectory and the lane/road boundary, whether at least one triggering condition for performing the lane/road keeping maneuver is met. The method includes performing the lane/road keeping maneuver to maintain the host vehicle within a predefined distance from the lane/road boundary.

A multi-vehicle control system (MVCS) for control of a multi-vehicle system having independently powered and steered lead and trailer vehicles connected by a slidable length sensing tow bar system. The MVCS includes a controller configured to receive throttle, brake, and steering signals from the lead vehicle, receive signals from the tow bar system indicating an extension length of the tow bar system, a front angle deviation of the lead vehicle, and a rear angle deviation of the trailer vehicle. The controller is further configured to determine, based on the received signals, a trailer vehicle acceleration/deceleration output and a trailer vehicle steering output, determine a driving scenario of the multi-vehicle system, and operate the multi-vehicle system based on the determined driving scenario and the determined trailer vehicle acceleration/deceleration output and trailer vehicle steering output.

A system configured to modify limits of at least one of vehicle ride height adjustability and wheel pivot distance based on wheel diameter. The system includes: a wheel speed sensor; a GPS receiver; an adjustable ride height system configured to raise and lower a body of a vehicle; a steering system configured to pivot wheels of the vehicle; and a control module. The control module is configured to: determine a wheel speed of a wheel based on an input from the wheel speed sensor; determine a vehicle speed based on GPS signals; compare the wheel speed and the vehicle speed, and identify a discrepancy therebetween; determine a wheel diameter based on the discrepancy; and modify at least one of a ride height adjustability limit of the adjustable ride height system and a wheel pivot distance limit of a steering system based on the wheel diameter determined.

A control unit for controlling a heavy-duty vehicle, the control unit being arranged to receive ambient environment data from one or more environment sensors on the heavy-duty vehicle, and to predict an impact of the ambient environment on the motion of the heavy-duty vehicle, wherein the control unit is arranged to coordinate control of one or more motion support devices, MSDs, on the heavy-duty vehicle to compensate for the predicted impact of the ambient environment on the motion of the heavy-duty vehicle.