A driving support apparatus for a vehicle comprising a steering device that steers steerable wheels, and a control unit configured to execute a running control in which a steered angle of the steerable wheels is changed by controlling the steering device, the control unit being configured to calculate a deviation between an index value of a target running state of the vehicle and an index value of an actual running state, to calculate a target change amount of the steered angle based on the index value deviation, to control the steering device so that a change amount of the steered angle conforms to the target change amount, and to limit a magnitude of a time change rate of the steered angle changed by the running control when one of a magnitude of the index value deviation and a magnitude of the target change amount exceeds a reference value.

A steering method of a multi-directional industrial truck for controlling a movement of the multi-directional industrial truck from a starting position into a target position. The method includes selectively controlling automatically at least one of a rotatory component of the movement and a translatory component of the movement.

A vehicle steering control apparatus obtains lane information of a traveling lane and performs, based on the lane information, a steering control. The vehicle steering control apparatus includes a first-target-control-amount calculator, a second-target-control-amount calculator, a limit value calculator, and a steering control executing unit. The first-target-control-amount calculator calculates, based on image information, a target control amount of the steering control as a first target control amount. The second-target-control-amount calculator calculates, based on own vehicle position information and map information, a target control amount of the steering control as a second target control amount. The limit value calculator calculates a limit value of the first target control amount, based on the second target control amount as a reference. The steering control executing unit limits the first target control amount by the limit value, and executes the steering control, based on the limited first target control amount.

A steer by wire system includes a controller operable to operate a roadwheel actuator such that a position command to the roadwheel actuator based on a handwheel orientation is a magnitude corresponding to a handwheel orientation offset value in an opposite direction to reduce a difference between the handwheel orientation offset value and a predetermined handwheel zero value.

A vehicle control device includes a target value setting unit that sets a target vehicle speed and a target yaw rate, a correction value calculation unit that calculates, in the case it is determined that the vehicle is in an understeering state, a correction value for correcting the target vehicle speed based on a deviation, a target vehicle wheel speed setting unit that sets target vehicle wheel speeds of a left driving wheel and a right driving wheel based on the target vehicle speed, the target yaw rate, and the correction value, and a rotational speed control unit that controls a rotational speed of the left driving motor based on the target vehicle wheel speed of the left driving wheel, and controls a rotational speed of the right driving motor based on the target vehicle wheel speed of the right driving wheel.

A vehicle traveling control apparatus includes a vehicle parameter detector, a vehicle parameter estimator, a disturbance-suppressing parameter calculator, an addition rate changer, and a disturbance suppressor. The vehicle parameter detector detects a vehicle parameter. The vehicle parameter estimator estimates, by means of a vehicle model, a vehicle parameter to be outputted in response to an input value. The disturbance-suppressing parameter calculator estimates, based on the vehicle parameters detected by the vehicle parameter detector and estimated by the vehicle parameter estimator, a disturbance generated at a vehicle, and calculates a disturbance-suppressing parameter. The addition rate changer identifies, based on the vehicle parameters detected by the vehicle parameter detector and estimated by the vehicle parameter estimator, the disturbance generated at the vehicle, and variably sets, based on the identified disturbance, an addition rate of the disturbance-suppressing parameter. The disturbance suppressor adds the disturbance-suppressing parameter set by the addition rate changer.

In a driving support device for a vehicle including a collision avoidance support system and a lane travel support system, a steering control amount is set while maintaining an appropriate relationship between both of the systems. A collision avoidance support control unit is configured to calculate a steering torque command value (Tr1(n)) in accordance with a first characteristic in which an upper limit value (Trmax1) and a gradient (K1) are set. A lane travel support control unit is configured to calculate a steering torque command value (Tr2(n)) in accordance with a second characteristic in which an upper limit value (Trmax2) and a gradient (K2) are set. The upper limit value (Trmax1) is set to a value less than the upper limit value (Trmax2), and the gradient (K1) is set to a value more than the gradient (K2).

An apparatus and a method for controlling a motor-driven power steering system can inhibit a change in steering feeling which may be caused by abrasion and degradation of components in the motor-driven power steering system, and maintain initial steering feeling. The method determines a torque compensation amount by comparing a reference value with change ratio average data of steering torque with respect to a steering angle, and compensates for driver input torque in accordance with the determined torque compensation amount, such that it is possible to effectively inhibit the change in steering feeling which may be caused by abrasion and degradation of components, and maintain the initial steering feeling.

Systems, methods, and other embodiments described herein relate to steering a vehicle based on an intended yaw rate during loss of traction. In one arrangement, a method for steering a vehicle during loss of traction is disclosed. The method includes detecting a slipping tire of a vehicle losing traction with a road. The method also includes decoupling control of a pair of front tires of the vehicle by a steering wheel of the vehicle. The method also includes identifying an intended yaw rate for controlling the vehicle by detecting an angle of the steering wheel while the slipping tire does not have traction. The method further includes steering the vehicle separately from an input of a steering wheel of the vehicle to cause intended yaw rate.

A steering assistance control apparatus includes a positional deviation calculator, a relative yaw angle calculator, a target value calculator, and a steering driver. The positional deviation calculator calculates a lateral positional deviation between an own vehicle and a preceding vehicle, based on a detection signal by a sensor. The relative yaw angle calculator calculates a relative yaw angle, in which the relative yaw angle is an angle formed by a traveling direction of the own vehicle and a traveling direction of the preceding vehicle. The target value calculator calculates a steering-related control target value, based on the lateral positional deviation and the relative yaw angle. The steering driver that drives a steering mechanism, based on the control target value.