A steering control device is configured to control a steering actuator to perform (i) a following control for causing a steering of a vehicle to automatically follow a target trajectory and (ii) an assist control for assisting the steering of the vehicle. The steering control device includes an assist setting unit and a limiting unit. The assist setting unit is configured to set an assist instruction value to instruct the assist control to the steering actuator. The limiting unit is configured to limit the assist instruction value depending on a magnitude of a deviation of a traveling position of the vehicle from the target trajectory.

A manager is installed in a vehicle. The manager includes: an accepting unit that accepts, from a plurality of advanced driver assistance system applications, a plurality of kinematic plans including first information that is information representing lateral-direction motion of the vehicle; an arbitration unit that performs arbitration of the kinematic plans; a first output unit that distributes a motion request based on a result of arbitration performed by the arbitration unit to at least one of a plurality of actuator systems; and a second output unit that outputs second information used for generating the first information to at least one of the ADAS applications.

A steering assist apparatus comprises a steering assist control means for performing a lane tracing assist control (LTA) and a lane changing assist control (LCA) and a non-holding determination means for determining whether or not a first non-holding condition that a non-holding duration time is more than or equal to a first time is satisfied and whether or not a second non-holding condition that the non-holding duration time is more than or equal to a second time shorter than the first time is satisfied. The steering assist control means raises a warning when the second non-holding condition becomes satisfied and stops the LTA when the first non-holding condition becomes satisfied while performing the LTA, and raises a waring when the second non-holding condition becomes satisfied whereas continues the LCA until a completion condition of the LCA becomes satisfied regardless of the non-holding while performing the LCA.

The present disclosure provides methods for adjusting steering angle and articulation angle in an auto articulation operation of a work vehicle. The percentage of travel of a steering joystick of the work vehicle at least partially determines a steering desired angle change, which can be used to calculate a steering desired angle and an articulation desired angle change. The difference between the steering desired angle and a steering angle detected by a steering angle sensor is used to adjust the steering angle. The articulation desired angle change can be used to calculate an articulation desired angle. The difference between the articulation desired angle and an articulation angle detected by an articulation angle sensor is used to adjust the articulation angle.

The present disclosure relates to a method for displaying lane information of an electronic device. The method for displaying lane information according to the present disclosure includes: acquiring an image photographed while a vehicle is driving; dividing the acquired image according to a distance from the vehicle; detecting lane display lines in the divided areas; curve-fitting the detected lane display lines to a continuous curve; and displaying the curve-fitted curve on a predetermined user interface. According to the present disclosure, it is possible to improve the route visibility to the driver by recognizing the far-distance lane by determining whether the vehicle is in the driving lane. In addition, it is possible to more accurately provide the route guidance information by using the real-time lane recognition results for the display of the route guidance.

Four-wheel steering of a vehicle, e.g., in which leading wheels and trailing wheels are steered independently of each other, can provide improved maneuverability and stability. A first vehicle model may be used to determine trajectories for execution by a vehicle equipped with four-wheel steering. A second vehicle model may be used to control the vehicle relative to the determined trajectories. For instance, the second vehicle model can determine leading wheels steering angles for steering leading wheels of the vehicle and trailing wheels steering angles for steering trailing wheels of the vehicle, independently of the leading wheels.

A method automatically controls an actuator of a control system of an automotive device. The method includes determining a reference trajectory, determining a position of the device with respect to the reference trajectory, acquiring a parameter relating to a force exerted by a driver on a manual control device of the control system, and calculating a controlling setpoint of the actuator. The controlling setpoint is calculated as a function of the parameter and of the position of the device with respect to the reference trajectory.

An electronic steering control apparatus to which a redundancy system is applied and which includes a first position controller and a second position controller. When communication is established between the first and second position controllers, the first position controller controls the position of a first motor based on command steering angles θ.sub.1 and θ.sub.2 from a control unit and feedback steering angles θ.sub.m1 and θ.sub.m2 from the first motor and a second motor, and the second position controller controls the position of the second motor based on the command steering angles θ.sub.1 and θ.sub.2 from the control unit and the feedback steering angles θ.sub.m1 and θ.sub.m2 from the first motor and the second motor.

A method of providing turning path guidance for a vehicle includes determining parameters of a turn region of a roadway using a controller of the turning path guidance system. The parameters include lane data and turning angle data. Positions of objects in and around the turn region of the roadway are detected using a sensor system of the vehicle. A map of the turn region is generated based on the lane data, turning angle data and that shows the detected objects using the controller. A turning path for the vehicle for navigating the turn in the turn region that avoids the detected objects is determined using the controller. The map with the turning path is displayed on a display screen in the vehicle.

A limiting system for constraining a commanded steering angle for a vehicle including an electric power steering (EPS) system includes a controller in electronic communication with at least one other system of the vehicle. The controller executes instructions to receive a plurality of trajectory planning inputs that are each expressed as an array including a plurality of values, where the plurality of trajectory planning inputs includes a trajectory velocity array, a trajectory acceleration array, and a trajectory curvature array. The controller also executes instructions to determine a maximum rate of steering angle change based on the corresponding ideal rate of change of the commanded steering angle and the maximum rate change allowed by the EPS system.