An augmented traction system for a two-wheeled vehicle comprising a CMG (control moment gyroscope) system including a plurality of CMGs to provide a first torque vector to decrease a roll angle of a turn of the vehicle and to increase force on one or more of the tires of the vehicle on a road surface, a steering system for the vehicle, the steering system to determine a steering control for the turn of the vehicle at a particular vehicle speed and roll angle, based on sensor data, and an aerodynamic control system to actuate one or more aerodynamic elements of the vehicle, the one or more aerodynamic elements to provide a second torque vector to decrease the roll angle of the vehicle.

Vehicle center of gravity (CoG) height and mass estimation techniques utilize a light detection and ranging (LIDAR) sensor configured to emit light pulses and capture reflected light pulses that collectively form LIDAR point cloud data and a controller configured to estimate the CoG height and the mass of the vehicle during a steady-state operating condition of the vehicle by processing the LIDAR point cloud data to identify a ground plane, identifying a height difference between (i) a nominal distance from the LIDAR sensor to the ground plane and (ii) an estimated distance from the LIDAR sensor to the ground plane using the processed LIDAR point cloud data, estimating the vehicle CoG height as a difference between (i) a nominal vehicle CoG height and the height difference, and estimating the vehicle mass based on one of (i) vehicle CoG metrics and (ii) dampening metrics of a suspension of the vehicle.

A method for controlling the lateral movement of a terrestrial vehicle arranged to track a predetermined trajectory, particularly in an assisted driving or autonomous driving scenario, comprising: determining a lateral offset of the vehicle center of mass from the predetermined trajectory; determining a look-ahead error defined as a distance of a virtual look-ahead position of the vehicle center of mass from the predetermined trajectory; and controlling the steering angle of the vehicle so as to also minimize the lateral offset and the first derivative of said look-ahead error over time.

A mobile work machine includes a propulsion subsystem that propel the mobile work machine about a worksite. The mobile work machine includes a steering subsystem that steers the mobile work machine about the worksite. The mobile work machine includes a stability determination system that determines a stability factor based on a characteristic of the steering subsystem. The mobile work machine also includes a control system that controls the mobile work machine based on the stability factor.

A vehicle control apparatus comprising, a center of gravity six-component calculation unit for calculating a center of gravity six-component as vehicle motion targets based on a driver input, a tire three-component calculation unit for calculating a tire three-component of four wheels of a vehicle based on the center of gravity six-component, a vehicle control unit for performing vehicle control by the vehicle control, actuator group based on the tire three-component of the four wheels, and wherein the tire three-component calculation unit calculates the tire three-component of the four wheels from the center of gravity six-component by a coordinate transformation without repetition, which is normalization with the driving stiffness of each wheel and the cornering stiffness of each wheel, when the number of control requests in the vehicle control is less than degrees of freedom of the vehicle control actuator group.

A system for estimating tire parameters for an off-road vehicle in real time, the system including a processing circuit including a processor and memory, the memory having instructions stored thereon that, when executed by the processor, cause the processing circuit to measure a position of the vehicle at a first time, determine, based on the position, motion characteristics of the vehicle, predict, based on the motion characteristics, a position of the vehicle at a second time, measure a position of the vehicle at the second time, and generate a tire parameter associated with the vehicle based on the predicted position and the measured position of the vehicle at the second time.

A center-of-mass height estimation device includes a roll moment calculation unit for calculating roll moment of a sprung portion in a vehicle on the basis of bearing capacities of left and right suspensions provided on the vehicle, a lateral acceleration measurement unit for measuring lateral acceleration, which is acceleration in a width direction of the vehicle, a mass measurement unit for measuring mass of the sprung portion, a transfer function calculation unit for calculating a transfer function of the roll moment with respect to the lateral acceleration, and a center-of-mass height calculation unit for dividing the gain of the transfer function by the mass of the sprung portion to calculate a height from a roll center of the vehicle to a center of mass of the sprung portion.

A method for determining implement load characteristics of a load carrying mobile machine includes receiving at least pressure data and position data associated with a payload received by the implement. The method also includes determining a locational value associated with the payload within the implement. The method further includes updating the locational value based on movement of the payload in the implement, the updated locational value being based at least on the pressure data, the position data, and predetermined physical parameters of the machine. The method further includes using the updated locational value to determine operational parameters of the machine.

A method for determining vehicle characteristic variables of a motor vehicle. The motor vehicle has active dampers which can set adjusting forces at the respective wheel suspensions in order to be able to raise and/or lower the body of the motor vehicle and which can also measure the acting forces. Specific predefined adjusting forces of the active dampers are imparted in order to ascertain vehicle characteristic variables from the resulting adjustment and the resulting measured forces.

An obstacle recognition device, a vehicle system including the same, and a method thereof are provided. The obstacle recognition device includes a storage storing data and an algorithm for calculating a risk probability and a processor configured to execute the algorithm to generate an occupancy grid map based on a sensing value of at least one ultrasonic sensor, calculate the risk probability of each cell on the occupancy grid map, and determine a shape and location of an obstacle based on the risk probability of each cell.