The present disclosure provides for a steering control method and a steering control system for self-driving of a vehicle. The method comprises the steps of: obtaining information about an expected steering angle of a vehicle based on an automatic planning control operation; detecting whether an effective torque is applied to a steering wheel by a driver; and when it is detected that the driver has applied the effective torque to the steering wheel, computing a difference between a turning angle of the steering wheel controlled by the driver and the expected steering angle of a vehicle, and determining a self-driving intent prompt torque according to the difference between the two, wherein the self-driving intent prompt torque is to be applied to a steering system.

In a marker detection method in which a sensor unit (11) that includes a plurality of magnetic sensors arranged in a vehicle width direction is used to detect magnetic markers (10) laid in a road, a feature value that represent symmetry of magnetic distribution, which is the distribution of magnetic measurement values obtained by each magnetic sensor included in the sensor unit (11) is generated, and threshold process regarding the feature value is executed to determine the possibility of the presence of magnetic generation source other than magnetic marker (10), that causes disturbance, and hence to suppress erroneous detection.

In a marker detection method in which a sensor unit (11) that includes a plurality of magnetic sensors arranged in a vehicle width direction is used to detect magnetic markers (10) laid in a road, a feature value that represent symmetry of magnetic distribution, which is the distribution of magnetic measurement values obtained by each magnetic sensor included in the sensor unit (11) is generated, and threshold process regarding the feature value is executed to determine the possibility of the presence of magnetic generation source other than magnetic marker (10), that causes disturbance, and hence to suppress erroneous detection.

A steering system includes a reaction drive apparatus to apply a reaction force to a steering member, a steering operation drive apparatus to turn steered wheels, a movement drive apparatus to move the steering member between an operation position and a retraction position, a mode switching circuit to switch a manual driving mode and an automatic driving mode, a movement control circuit to move the steering member to the operation position when switched to the manual driving mode, and to move the steering member to the retraction position when switched to the automatic driving mode, a reaction control circuit to control the reaction drive apparatus in the manual driving mode based on steering information of the steering member and steering operation information of the steering operation drive apparatus, and an actuation restriction circuit to restrict actuation of the steering member in the automatic driving mode.

A vehicle system includes a steering wheel configured to output an output based on an input from a user, and a controller configured to: determine a target orientation of front wheels of a vehicle based on vehicle environment information, determine whether an orientation of the front wheels of the vehicle based on the output from the steering wheel deviates from the target orientation, disengage the steering wheel from the front wheels in response to determination that the orientation of the front wheels deviates from the target orientation, adjust the orientation of the front wheels to the target orientation and provide a feedback in response to adjusting the orientation of the front wheels to the target orientation.

This power supply device is provided with: a primary power supply system for supplying power to a motor for rotary-driving a running wheel; a voltage converter unit for converting voltage by being supplied with a part of the power from the primary power supply system; a secondary power supply system for supplying electric power converted by the voltage converter unit to a steering device; and a primary backup power supply for supplying power to the voltage converter unit. The primary backup power supply makes it possible to supply the power to the voltage converter unit when the voltage of the power detected by a VD of the primary power supply system becomes smaller than a predetermined value.

A manual steering command value generation unit generates a manual steering command value using steering torque. An integrated angle command value computation unit computes an integrated angle command value by adding the manual steering command value to an automatic steering command value. A control unit performs angle control on an electric motor on the basis of the integrated angle command value. The control unit includes: a basic torque command value computation unit that computes a basic torque command value on the basis of the integrated angle command value; a disturbance torque estimation unit that estimates disturbance torque other than motor torque that is generated by the electric motor and acts on an object to be driven by the electric motor; and a disturbance torque compensation unit that corrects the basic torque command value in accordance with the disturbance torque.

A driving control device includes a touch unit configured to acquire fingerprint information of a user and generate touch signals according to the fingerprint information, in which the touch signals include the fingerprint information; and a controller configured to generate driving control signals according to the fingerprint information in the touch signals and output the driving control signals to a vehicle to control traveling parameters of the vehicle. A vehicle and a driving control method are further provided.

A driving control device includes a touch unit configured to acquire fingerprint information of a user and generate touch signals according to the fingerprint information, in which the touch signals include the fingerprint information; and a controller configured to generate driving control signals according to the fingerprint information in the touch signals and output the driving control signals to a vehicle to control traveling parameters of the vehicle. A vehicle and a driving control method are further provided.

A mobile machine having a chassis, a plurality of ground-engaging elements, a plurality of actuators for driving movement of the ground-engaging elements, and a controller for controlling each of the actuators to cause the mobile machine to follow a guidance path along a ground surface. The controller is configured to generate a first set of control values for driving the machine according to a first heading based on a reference heading error of the machine and generate a second set of control values for driving the machine according to a second heading based on a distance heading error of the machine, determine a weight scheme for the first set of control values and the second set of control values dependent on a distance of the machine from the guidance path, combine the control signals using the weight scheme and drive the machine using the combined control signals.