A control apparatus of a vehicle that calculates a feedback requested acceleration for maintaining an inter-vehicle distance to a target distance and a feedforward requested acceleration for causing the own vehicle to travel following a communicating preceding vehicle and calculates a requested acceleration of the own vehicle on the basis of the feedback and feedforward requested accelerations. The apparatus executes a control that causes the own vehicle to travel following the preceding vehicle by controlling the acceleration of the own vehicle such that the acceleration of the own vehicle corresponds to the requested acceleration of the own vehicle. The apparatus sets the feedforward requested acceleration to zero when a shift lever of the preceding vehicle is positioned at a shift position other than a shift position that causes the preceding vehicle to travel forward and the feedforward requested acceleration is larger than zero.

A control apparatus of a vehicle for causing an own vehicle to travel following a preceding vehicle calculates a requested acceleration of the own vehicle on the basis of a feedback requested acceleration to maintain an inter-vehicle distance at a target distance and a feedforward requested acceleration to cause the own vehicle to travel following the preceding vehicle. The apparatus calculates the feedforward requested acceleration on the basis of information on an acceleration of the preceding vehicle sent from the preceding vehicle through a wireless communication. The apparatus sets the feedforward requested acceleration to zero when a vehicle travel stabilization control is executed in the preceding vehicle to control a friction braking force applied to at least one of vehicle wheels of the preceding vehicle to stabilize a travel of the preceding vehicle, and the feedforward requested acceleration is larger than zero.

The invention relates to a control apparatus of a vehicle. The apparatus calculates a requested acceleration of an own vehicle on the basis of feedback and feedforward requested accelerations and executes a following travel control for causing the own vehicle to travel following a communicating preceding vehicle by controlling an acceleration of the own vehicle such that the acceleration of the own vehicle corresponds to the requested acceleration. The apparatus sets the feedforward requested acceleration to zero when an own vehicle sensor device has not detected the preceding vehicle and the feedforward requested acceleration is larger than zero after starting an execution of the following travel control.

Methods and systems for controlling a hydromechanical transmission are proposed. In one example, a control method for a hydrostatic unit of a hydromechanical variable transmission (HVT) is presented, comprising controlling the hydrostatic unit via a feedforward control architecture including a non-linear, multi-coefficient model, wherein the hydrostatic unit comprises a hydrostatic pump and a hydrostatic motor and a desired differential pressure of the hydrostatic unit or a desired hydraulic pump displacement may be used as inputs for the model, where the model's output is a pressure difference for a pump control piston coupled to a swash plate of the hydrostatic unit. Use of the non-linear model permits the hydrostatic unit to be controlled based on load, speed, and/or torque, thereby increasing the adaptability of the control system.

A launch control technique for a vehicle having a torque generating system comprises displaying, via a user interface, information relating to a set of launch torque curves, each launch torque curve defining how the torque generating system is to generate drive torque during a period, receiving, via the user interface, a driver-selection of one of the set of launch torque curves to obtain a driver-selected launch torque curve, detecting a set of launch conditions comprising one or more vehicle operating conditions indicative of a launch of the vehicle, detecting a launch request in response to an accelerator pedal of the vehicle being depressed, and controlling the launch of the vehicle by performing open-loop control of the drive torque generated by the torque generating system according to the driver-selected launch torque curve and irrespective of wheel slip of the vehicle.

A method according to an exemplary aspect of the present disclosure includes, among other things, controlling a torque output of an electric machine of an electrified vehicle based on estimated loads present during a transmission engagement of the electrified vehicle.

Systems and methods for a hybrid motion planner for autonomous vehicles. A multi-lane intelligent driver model (MIDM) can predict trajectory predictions from collected data by considering adjacent lanes of an ego vehicle. A multi-lane hybrid planning driver model (MPDM) can be trained using open-loop ground truth data and close-loop simulations to obtain a trained MPDM. The trained MPDM can predict planned trajectories with collected data and the trajectory predictions to generate final trajectories for the autonomous vehicles. The final trajectories can be employed to control the autonomous vehicles.

A swash plate angle for a hydrostatic power unit of a continuously variable hydromechanical transmission is determined using a feedforward compensation term, to reduce reliance on closed loop control. The feedforward term is based on knowledge of the hydrostatic power unit determined as a function of knowledge of certain parameters, including, but not limited to, hydrostatic power unit pressure, swash plate angle, desired hydrostatic power unit ratio, and pump speed.

A safety stoppage device and method for safety stoppage of an autonomous vehicle including control networks and sensors for monitoring the autonomous vehicle surroundings and motion includes a brake-control unit for a brake system including wheel brakes of the autonomous vehicle, and a signaling processing system for processing sensor signals enabling an autonomous drive mode thereof. Where a drivable space exists is predicted based on data from the sensors and sensor fusion, and a safe trajectory to a stop within the drivable space is calculated and sent to the brake-control unit and stored therein. The brake-control unit is shielded against electromagnetic compatibility problems and configured to monitor if the control networks are operational and, if determined incapacitated, control the autonomous vehicle to follow the most recently calculated safe trajectory to a stop within the drivable space using differential braking of the wheel brakes thereof in order to effectuate steering.

An embodiment system for controlling switching to a manual driving mode of an autonomous vehicle includes a steering controller configured to determine whether a steering angle is changed according to operation of a steering wheel by a driver, a braking controller configured to apply braking torque to a braking device of each wheel, a motor controller configured to apply individual regenerative braking torque and driving torque to each wheel, and an autonomous driving controller configured to determine a control torque for maintaining straight-ahead driving and to issue an instruction using a feedforward control scheme when a steering angle change signal according to the operation of the steering wheel by the driver is received from the steering controller in a transition section in which an autonomous driving mode is switched to the manual driving mode during high-speed straight-ahead driving of the autonomous vehicle.