A movement route generating apparatus includes an angle calculating unit calculating an angle formed by a vehicle travel direction at a target position compared with that at the current position, a graph generating unit generating a graph that has most gentle inclinations by plotting the curvature of a travel trajectory matching the steering angle of the vehicle and a distance traveled on two axes, under the condition that the area of a graph generated in correspondence to a travel trajectory from the current position to the target position is equal to the angle and other conditions, and a route setting unit setting a travel trajectory represented by the graph as the movement route of the vehicle. Accordingly, a travel trajectory with the smallest degree of change in curvature per unit distance traveled, that is, a low horizontal angular velocity caused by vehicle steering, can be set as a movement route.

In a control section in a drive assist system, a position prediction section acquires a direction of a road on which an own vehicle drives. A position identification section a drive direction of the own vehicle on the road. An assist control calculation section determines control parameters so that the direction of the road easily matches with the drive direction of the own vehicle. The control parameters represent a degree of steering operation due to the direction of the road.

Example embodiments relate to identification of proxy calibration targets for a fleet of sensors. An example method includes collecting, using a sensor coupled to a vehicle, data about one or more objects within an environment of the vehicle. The sensor has been calibrated using a ground-truth calibration target. The method also includes identifying, based on the collected data, at least one candidate object, from among the one or more objects, to be used as a proxy calibration target for other sensors coupled to vehicles within a fleet of vehicles. Further, the method includes providing, by the vehicle, data about the candidate object for use by one or more vehicles within the fleet of vehicles.

The rollover prevention apparatus defines an adaptive steering range limiting device comprising a control unit and a pair of opposing unidirectional brake assemblies mounted to a steering column position detection disc. The rollover prevention apparatus prevents the steering wheel of the vehicle from being turned beyond the threshold of vehicle rollover, but otherwise does not restrict the rotational range of motion of the steering wheel of a vehicle.

A system for estimating a trajectory of a vehicle includes vehicle state sensors detecting a state of movement of the vehicle and environment sensors monitoring an environment of the vehicle. A free space module determines a free space corridor based on the detected state of movement of the vehicle and the monitored environment of the vehicle. A goal point determination module determines at least one goal point for the trajectory to be estimated based on the free space corridor. A trajectory planning module estimates a reference trajectory based on the at least one goal point and calculates a deviation between an actual trajectory and the reference trajectory of the vehicle. A trajectory control module minimizes the deviation between the actual trajectory and the reference trajectory of the vehicle and outputs optimal control parameters for the movement of the vehicle based on the minimized deviation.

A driving assistance apparatus predicts an appropriate operation amount which is an operation amount performed by a driver in correspondence with the external environment, and sets the appropriate operation amount range including the appropriate operation amount, an appropriate operation amount range including the appropriate operation amount, and changes the reaction force characteristics of the operation device when it is determined that the operation amount of the driver corresponding to the prediction time point of the appropriate operation amount is not included in the appropriate operation amount range.

The invention relates to a method for adjusting a servo steering torque in a vehicle steering system, wherein the servo steering torque can be generated by an actuator of the vehicle steering system. The method comprises: receiving a driver's steering request, receiving a steering request from at least one driver assistance system, receiving at least one driving dynamics variable, determining a static state in which a change of the driver's steering request and the driving dynamics variable each is below a predetermined threshold, and if the static state has been determined, adjusting the servo steering torque by regulating, wherein a control variable for the regulation is determined based on a driver's steering request and the steering request by the driver assistance system.

Disclosed are apparatuses and methods for controlling the steering of an autonomous vehicle. The apparatus including an electric power steering device to generate an assist torque for a steering wheel, an autonomous driving position controller to control a steering position according to a command steering angle input from an autonomous driving module, a driver steering intervention judger to judge whether a driver intervenes in steering based on a column torque and a vehicle speed, a weight detector to detect a weight for integrating output of an electric power steering device and output of an autonomous driving position controller based on judging whether the driver intervenes in steering, and an output controller to apply the weight to the output of the electric power steering device and the output of the autonomous driving position controller to integrate the output of the electric power steering device and the output of the autonomous driving position controller, wherein the autonomous driving position controller is further configured to adjust a gain value for controlling the steering position by applying the weight.

A method of controlling switching to a manual driving mode in an autonomous vehicle provided with a foldable pedal device is provided. In the method, when a signal for switching a driving mode from an autonomous driving mode to the manual driving mode is generated in an autonomous vehicle provided with a foldable accelerator pedal device and a foldable brake pedal device, whether it is possible to switch the driving mode to the manual driving mode is determined by checking safety conditions; when the safety conditions are satisfied, it is determined whether a pop-up position of a pad of the foldable accelerator pedal device and a pop-up position of a pad of the foldable brake pedal device are normal pop-up positions, respectively; and only when the positions are the respective normal pop-up positions, the driving mode is switched to the manual driving mode.

A vehicle motion control apparatus includes a control unit which controls a steering apparatus and a brake apparatus provided in a vehicle. The control unit acquires a normative motion state amount necessary for the vehicle to trace a target traveling path, acquires a target motion state amount necessary for generating a yaw moment to cancel unstable behavior of the vehicle, and acquires a target steering angle for generating a steering angle moment and a target brake force for generating a brake moment, to obtain a necessary yaw moment generated by the vehicle. The control unit outputs a first control command for obtaining the target steering angle to the steering apparatus and outputs a second control command for obtaining the target brake force to the brake apparatus.