A vehicular driving assistance system includes a camera viewing exterior of a vehicle and capturing image data. The system, via processing captured image data as the vehicle travels along a current traffic lane, determines a current lateral position of the vehicle within the current traffic lane and determines a target lateral position of the vehicle within the current traffic lane. The system determines a steering command to guide the vehicle from the current lateral position to the target lateral position and determines a steering angle offset required to maintain the target lateral position within the current traffic lane and stores the determined steering angle offset in nonvolatile memory. After storing the determined steering angle offset and when the vehicle is traveling during a subsequent trip, the system determines a second target lateral position of the vehicle within the current traffic lane and applies the stored steering angle offset.

An automatic steering system for an agricultural vehicle includes an assisted steering device and a controller or estimator operatively coupled to the assisted steering device and configured to adjust a calibration range. Adjusting the calibration range includes generating an estimated curvature for the vehicle based on a pose of the agricultural vehicle; generating an estimated encoder position of the encoder based on the estimated curvature; determining a current encoder position of the encoder; and adjusting the calibrated encoder range based on the estimated encoder position and the current encoder position.

A control method is provided for controlling a lateral position of a motor vehicle. The control method includes calculating a sighting distance of a detector means embedded in the vehicle, calculating a first component of a steering angle setpoint of a steered wheels of the vehicle, and calculating a second component of the steering angle setpoint. The first component is an open loop component of a control system, while the second component is a closed loop component of the control system. The first component is weighted by a gain that is a decreasing function of the sighting distance.

A steering control method includes: detecting a steering angle of a steering wheel; calculating first steering reaction force which becomes greater when the detected steering angle is greater; calculating a delayed steering angle by delaying a phase of the detected steering angle; calculating second steering reaction force which becomes greater when an absolute value of a deviation angle being a deviation between the detected steering angle and the calculated delayed steering angle is greater; and applying steering reaction force based on a sum of the first steering reaction force and the second steering reaction force to the steering wheel.

An electric motor with a rotor and a stator, where the rotor and/or the stator can comprise two or more sections, and a torque ripple caused by the magnetic field(s) associated with a section of the rotor (or stator) can at least partially counters torque ripple caused by the magnetic field(s) associated with other section(s) of the rotor (or stator).

An apparatus and method of controlling a motor driven steering system may selectively perform a motor current control of the motor driven steering system for reducing motor noise according to a present motor-applied current applied to a steering motor of the motor driven steering system when it is determined from vehicle speed information or wheel speed information detected by a first sensor that a vehicle is currently in a stopped state and it is determined from steering angle information detected by a second sensor that a steering wheel is currently in a steering wheel holding state.

A steering controller includes processing circuitry configured to execute a first operation process that, when an angle command value is not input from outside of the processing circuitry, calculates a first torque command value corresponding to a steering-side operation amount and operating a drive circuit of an electric motor to adjust torque of the electric motor to the first torque command value. The processing circuitry is further configured to execute a second operation process that, when the angle command value is input from the outside of the processing circuitry, calculates a second torque command value corresponding to at least an angle-side operation amount of the steering-side operation amount and the angle-side operation amount and operating the drive circuit of the electric motor to adjust the torque of the electric motor to the second torque command value.

A method for monitoring an electric steering device of a vehicle while the vehicle is driving, the method including generating a nominal movement direction signal that characterizes a current nominal movement direction of the vehicle and processing the nominal direction movement signal in at least one electronic control device; feeding surroundings data into the at least one electronic control device wherein the surroundings data is generated by a sensor device of the vehicle that scans surroundings of the vehicle touch free, wherein the surroundings data characterizes surroundings of the vehicle and is configured to be processed by a first driver assistance system, wherein the surroundings data facilitates detecting a current actual movement direction of the vehicle; generating an actual movement direction signal by the at least one electronic control device based on the surroundings data wherein the actual movement direction signal characterizes a current actual movement direction of the vehicle.

Techniques for using ball joint sensor data to determine conditions relevant to a vehicle are described in this disclosure. For example, in one example, the ball joint sensor data may be used to determine a ride height at a portion of the vehicle, which may be used to determine roll data and/or pitch data. The ride height, roll data, and/or pitch data may be directly used to navigate through an environment, such as by the vehicle relying on the data when interpreting sensor data or planning driving operations. Also, the ride height, roll data, and/or pitch data may be used to verify the reliability of other sensor data used to navigate through the environment.

Techniques for using ball joint sensor data to determine conditions relevant to a vehicle are described in this disclosure. For example, in one example, the ball joint sensor data may be used to determine estimated steering data. The estimated steering data may be directly used to navigate through an environment, such as by the vehicle relying on the estimated steering data when planning, tracking, or executing a driving maneuver. Also, the estimated steering data may be used to verify the reliability of other steering sensor data used to navigate through the environment.