Among other things, techniques are described for steering angle calibration. An autonomous vehicle receives a steering angle measurement and a yaw rate measurement, and estimates a steering angle offset using the steering angle measurement, the yaw rate measurement, and a wheel base of the autonomous vehicle. An estimated yaw rate is determined based on a yaw rate model, the steering angle measurement and the estimated steering angle offset. The yaw rate measurement and the estimated yaw rate are compared and an action is initiated on the autonomous vehicle in response to the comparing.

A behavior control apparatus for a vehicle, comprising a control unit that controls braking/driving forces of wheels so that the magnitude of a deviation between a steering angle and a steering angle conversion value of a yaw rate decreases when it is determined that the deviation exceeds a threshold value in magnitude and the vehicle is in an understeer state; the vehicle has a steering device including a variable gear ratio type rack bar; and, when the sign of the steering angle is the same as the sign of the offset amount and the zero point offset amount exceeds a reference value in magnitude, the control device corrects at least one of the threshold value and the magnitude of the deviation according to the steering angle and the zero point offset amount so that it becomes difficult to determine that the magnitude of the deviation exceeds the threshold value.

A system according to the principles of the present disclosure includes an expected trajectory module and an electronic display. The expected trajectory module determines an expected forward drive trajectory of a vehicle and determines an expected forward drive trajectory of a trailer being towed by the vehicle. The electronic display displays the expected forward drive trajectories of the vehicle and the trailer.

An apparatus for four-wheel independent steering. The apparatus may include: a rear wheel angle computation unit configured to compute a rear wheel angle (δ.sub.r) resulting by multiplying a front wheel angle (δ.sub.f) by a predetermined front/rear wheel angle ratio (Kss) corresponding to a vehicle speed (V); a gain computation unit configured to compute a gain (A) corresponding to a steering angle acceleration and the vehicle speed and then to output a final rear wheel angle (δ.sub.r) resulting by multiplying the rear wheel angle (δ.sub.r) computed by the rear wheel angle computation unit by the computed gain (A); and a control unit configured to perform rear wheel steering control based on the front wheel angle (δ.sub.f) and the final rear wheel angle (δ.sub.r).

A control method and apparatus, which are applied to a vehicle with an electric power steering system. The electric power steering system comprises a first control subsystem and a second control subsystem. The method comprises: acquiring a front steering angle, a steering torque, a yaw rate and a vehicle speed of a vehicle; according to the front steering angle, the steering torque, the yaw rate and the vehicle speed, determining a vehicle yaw rate associated with a first control subsystem; determining, on the basis of the vehicle yaw rate, an expected deviation value associated with a second control subsystem; and determining a control parameter on the basis of the expected deviation value, such that the vehicle adjusts, according to the control parameter, the steering torque to run. According to the method, a vehicle can be controlled to adjust a steering torque according to a control parameter, thereby enhancing the overall vehicle handling characteristic of the vehicle, avoiding using a relatively large braking operation to greatly reduce the speed of the vehicle, and avoiding the situation of shortening the service life of tires.

A method for controlling an active rear axle steering of a motor vehicle when steering out from straight travel with given actual dynamics of the wheel guidance of the motor vehicle, wherein an actual steering signal of the motor vehicle is received by a control circuit from at least one sensor, then from the actual steering signal a dynamic model of the wheel guidance calculates a time variation of a differential signal describing a deviation of the actual steering signal from an imaginary nominal steering signal which would be needed in order to perform the steering with a given nominal dynamics, and from the differential signal a predetermined conversion rule is used to generate a nominal steering signal for the rear axle steering and the rear axle steering is actuated with this.

An integrated control system for a vehicle is provided. The system includes a friction coefficient calculation unit that calculates friction coefficients of left side and right side road surfaces, respectively, based on vehicle wheel state information and a predetermined setting information collected during ABS operation. A feedforward braking pressure calculation unit calculates a feedforward braking pressure of each vehicle wheel using the friction coefficients. An ABS braking pressure calculation unit calculates an ABS braking pressure of the each vehicle wheel based on the feedforward braking pressure and slip rate information. A rear wheel steering control amount calculation unit calculates a rear wheel steering control amount for yaw compensation using the ABS braking pressure of each vehicle wheel and a rear wheel steering controller executes a rear wheel steering control according to the rear wheel steering control amount.

A method is provided for steering control of a vehicle by using lateral velocity of two know points (or lateral velocity of one known point and yaw rate), longitudinal velocity and steer angle information. These factors are used to calculate a target steer angle based on the track angle based on yaw decomposition to thus adjust a current steer angle of the vehicle based on the target steer angle.

A motor vehicle including a sensor device detecting the current vehicle surroundings and an auxiliary device producing a steering torque on a steering control of the motor vehicle. A data processing device connected to the sensor device and the auxiliary device determines a free escape lane for the motor vehicle by considering the signals of the sensor device to determine existence of an imminent impact or collision in a current driving situation. The data processing device actuates the auxiliary device if an imminent impact or collision appears likely to produce a temporary indicative steering torque on the steering control. The steering control can be temporarily displaced, moved, or turned to a defined extent in an evasive steering direction the steering control should be displaced, moved or turned to steer the motor vehicle into the free escape lane. The auxiliary device produces the indicative steering torque in a manner such that the driving direction of the motor vehicle is not or is only insignificantly changed by the indicative steering torque.

The present disclosure provides a control method and apparatus for an autonomous vehicle, a computer device and a storage medium. The current steering wheel angle, vehicle speed and yaw rate are obtained, the current steering wheel angle is corrected based on the first correction deviation coefficient and the second correction deviation coefficient of the previous cycle, the corrected steering wheel angle and the current vehicle speed are input into the preset vehicle dynamic model to obtain the estimated yaw rate, the first yaw rate deviation value between the current yaw rate and the estimated yaw rate is obtained, and processed by the preset closed-loop algorithm to obtain the first correction deviation coefficient and the second correction deviation coefficient of the current cycle, and the target steering wheel angle is corrected, and the vehicle is driven based on the corrected target steering wheel angle.