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 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.

A vehicle includes a chassis, an axle pivotally coupled to the chassis such that the axle can tilt from side to side relative to the chassis, a tilt-angle sensor configured to detect a tilt angle of the axle relative to the chassis, and steerable hubs carried by the axle. Each hub is configured to rotate about steering axes relative to the axle, and a steering-angle sensor is configured to detect a steering angle of at least one hub relative to the axle. A control system limits a maximum steering angle of the hubs based at least in part on a size of tires or tracks carried by the steerable hubs and the detected tilt angle of the axle. A method includes detecting a tilt angle of the axle relative to the chassis and limiting the maximum steering angle of the hubs.

System, methods, and other embodiments described herein relate to steering a vehicle based during loss of traction. In one arrangement, a method for steering a vehicle during loss of traction is disclosed. The method includes, responsive to detecting a slipping tire of a vehicle losing traction with a road, automatically steering the vehicle separately from an input of a steering wheel of the vehicle to cause the vehicle to follow a path. The method also includes decoupling control of a pair of front tires of the vehicle by the steering wheel. The method further includes rotating, independently of an input to the steering wheel and in parallel with steering the vehicle, the steering wheel to match an actual yaw of the vehicle.

Disclosed is a steer by wire system that 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 method is provided for calculating a driver's desired yaw rate of a vehicle for use in a vehicle movement control system and includes determining the current yaw rate of the vehicle, determining the rate of the vehicle's steering wheel rotation. The method further includes calculating a first desired yaw rate of the vehicle based on the determined current yaw rate of the vehicle and the determined rate of the vehicle's steering wheel rotation, the desired yaw rate being further calculated based on the assumption that the driver applies a rate of steering wheel rotation as function of the driver's perceived error in yaw rate, and finally the step of providing the first desired yaw rate as an input to the vehicle movement control system for controlling the vehicle.

A vehicle control device according to an embodiment includes a lateral position acquisition unit configured to acquire a lateral position of the vehicle, a feedforward control unit configured to determine a feedforward steering angle corresponding to the target yaw rate, a feedback control unit configured to determine a feedback steering angle, a steering angle determination unit configured to determine a steering angle of the vehicle, a wobble determination unit configured to detect a wobble of the vehicle based on a temporal change in the lateral position of the vehicle, and a correction unit configured to correct the feedback steering angle so that a variation amount with respect to an average value of the feedback steering angle in a most recent certain period becomes small when the wobble of the vehicle is detected by the wobble determination unit.

A method including the receipt of a first steering request corresponding to a desired steering angle of a vehicle, the determination of an actual steering angle of the vehicle based on steering data associated with a yaw rate sensor of the vehicle, the comparison of the desired steering angle to the actual steering angle to determine a steering angle difference, and the receipt of a second steering request wherein the second steering request includes an updated compensation value corresponding to the steering pinion offset to adjust the steering angle of the vehicle based on the comparison to reduce the steering angle difference.

A trajectory planning system for a vehicle includes a sensor system for measuring an actual curvature on the basis of a respective current yaw rate, a memory containing a target trajectory with target curvatures, wherein the trajectory planning system determines target yaw rates from the target curvature, and a steering system that uses steering variables to obtain target curvatures in actual curvatures. The system determines a respective first actual derivative of the measured respective current actual yaw rate over time and a respective first target derivative of the respective current target yaw rate over time. A correlator determines a respective current delay on the basis of the respective first actual derivatives and the respective first target derivatives in a current yaw rate segment, and a parameter estimator recursively estimates the delay between the target yaw rate and the actual yaw rate on the basis of respective current delay inputs.

The present disclosure provides a vehicle and a control method, a control apparatus, and a storage medium thereof. The method includes: obtaining a wheel speed difference at a current vehicle speed when it is determined that a steer-by-wire system of the vehicle is failed; obtaining a positive kingpin offset value; and determining, based on the wheel speed difference and the positive kingpin offset value, a target steering angle of a vehicle wheel, and controlling the vehicle wheel based on the target steering angle. The method provided in the present disclosure can enables steering control of the vehicle based on the wheel speed difference and a positive kingpin offset when the steer-by-wire system fails, and no additional components are required. In this way, an off-system backup for the failed steer-by-wire system is achieved, improving vehicle safety and reducing costs.