Vehicles, control systems for vehicles, and methods of operating vehicles are disclosed herein. A vehicle includes a frame structure, a front section, a rear articulation section, and a control system. The front section is coupled to the frame structure and to a front plurality of wheels supported for movement on a front axle. The rear articulation section is coupled to the frame structure and to a rear plurality of wheels supported for movement on a rear axle. The rear articulation section is pivotally coupled to the front section via an articulation joint and arranged opposite the front section along a vehicle axis. The control system is coupled to the frame structure and includes a mode selector configured to provide input indicative of a mode selected by an operator in use of the vehicle and a controller communicatively coupled to the mode selector.

Methods and apparatus to control a torque threshold for hands on/off detection are disclosed. An example apparatus includes memory including instructions, and one or more processors to execute the instructions to cause the one or more processors to at least compare a velocity of a rack to at least one of a first velocity threshold or a second velocity threshold, adjust a first torque threshold in response to the velocity of the rack satisfying the first velocity threshold, adjust a second torque threshold in response to the velocity of the rack satisfying the second velocity threshold, compare a torque between the rack and a steering shaft to the first torque threshold and the second torque threshold, and detect a hands off condition in response to the torque between the rack and the steering shaft not satisfying the first torque threshold or the second torque threshold.

A yaw stability control system is provided for a motor vehicle. The system includes one or more cameras, a plurality of wheel speed sensors, a yaw angle sensor, and a steering angle sensor. The system further includes an electric motor connected to a reaction wheel. The system further includes a processor and a memory including instructions such that the processor is programmed to: determine a desired yaw angle of the motor vehicle based on a video signal, speed signals, a yaw signal, and a steering signal. The processor is further programmed to generate an actuation signal associated with the desired yaw angle. The electric motor angularly rotates the reaction wheel at a predetermined angular rate in a predetermined rotational direction to produce a counter-acting torque that rotates the motor vehicle to the desired yaw angle, in response to the electric motor receiving the actuation signal from the processor.

A method for providing lane keeping support to enable improved one-hand operation of a vehicle is described. The method includes detecting a one-hand location of a vehicle operator on a steering wheel of the vehicle. The method also includes determining a level of control of the vehicle operator on the steering wheel during the one-hand operation of the vehicle. The method further includes adjusting a level of compensation applied to the steering wheel to facilitate the one-hand operation of the vehicle.

A steering control device is configured to control steering of a vehicle by a steering actuator. The steering control includes a trajectory following control unit and an angle following control unit. The trajectory following control unit is configured to adjust a target angle of a steering angle given to a tire of the vehicle by a trajectory following control that causes a state quantity containing a position of the vehicle to follow a target trajectory. The angle following control unit is configured to adjust an instruction value that is given to the steering actuator and corresponds to an actual angle of the steering angle by an angle following control that causes the actual angle to follow the target angle. The trajectory following control unit is configured to forcibly set the target angle to be a fixed angle in a stop control period.

A vehicle may be operated in a driving mode with autonomous lateral control and in a driving mode with manual lateral control, where the vehicle has a steering lever with a steering lever range, and where the steering lever range represents a circular space which is delimited about 360° by a rotational movement of the steering lever about a steering lever axis of rotation. A method associated with the vehicle may include one or more of the following steps: operating the vehicle in a driving mode with autonomous lateral control; detecting an intrusion in the steering lever range and/or a breaching of a predefined distance from the steering lever range by the vehicle occupant or another object with a sensor unit without the vehicle occupant coming into contact with the steering lever; and signaling the intrusion and/or the breaching of the distance to the vehicle occupant.

Proposed are a steer-by-wire system control apparatus and method, the apparatus including: a torque overlay control module configured to determine a target steering angle using a torque command input from a Lane Keeping Assistance System; and an actuator control module configured to control a position of a rack according to the target steering angle and thus to control a traveling direction of a vehicle.

An apparatus and method for controlling driving of a vehicle are provided and the apparatus includes a lamp that projects a lamp light onto one of a left floor surface or a right floor surface of the vehicle, a camera that obtains an image of an area onto which the lamp light is projected, and a controller that determines whether to output a warning based on the image of the area onto which the lamp light is projected when the lamp light is projected onto a boundary stone located around at least one of the left floor surface or the right floor surface of the vehicle.

Methods, apparatus, systems and articles of manufacture are disclosed a vehicle comprising a steering assist system, a steering wheel, a user interface, and a steering controller to detect, via the user interface, a request to move the steering wheel of a vehicle to a first rotational position, the steering wheel having a second rotational position, determine, based the first rotational position and a first parameter, a third rotational position having a first offset from the second rotational position, actuate, via the steering assist system, the steering wheel to the third rotational position, disengage the steering assist system, the disengagement causing the steering wheel to rotate to a fourth rotational position, and compare the first rotational position to the fourth rotational position to determine if the request has been satisfied.

Systems and methods use cameras to provide autonomous navigation features. In one implementation, a method for navigating a user vehicle may include acquiring, using at least one image capture device, a plurality of images of an area in a vicinity of the user vehicle; determining from the plurality of images a first lane constraint on a first side of the user vehicle and a second lane constraint on a second side of the user vehicle opposite to the first side of the user vehicle; enabling the user vehicle to pass a target vehicle if the target vehicle is determined to be in a lane different from the lane in which the user vehicle is traveling; and causing the user vehicle to abort the pass before completion of the pass, if the target vehicle is determined to be entering the lane in which the user vehicle is traveling.