Disclosed examples include a printed circuit board (PCB) having a first power management circuit coupled to a first transmission coil; a second power management circuit; a first receiver coil including a first coil portion on a first layer of the PCB and a second coil portion on a second layer of the PCB; a second receiver coil including a third coil portion on the first layer of the PCB and a fourth coil portion on the second layer of the PCB, the second receiver coil in coaxial alignment with the first transmission coil and the first receiver coil.

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.

According to an embodiment, it is a method for synchronizing the rotatory position () of the steering wheel to the angular position () of the road wheel comprising, causing at least one of a steering wheel to move into a steering wheel end stop position, wherein a rotatory position () of the steering wheel end stop position is known, and causing a road wheel to move into a road wheel end stop position, wherein an angular position () of the road wheel end stop position is known; causing the steering wheel to move into a neutral steering wheel position based on the rotatory position () of the steering wheel end stop position using a first incremental position sensor, and causing the road wheel to move into a neutral road wheel position based on the angular position () of the road wheel end stop position using a second incremental position sensor.

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 of controlling a vehicle includes: receiving pieces of data related to steering of the vehicle; detecting, among the pieces of data, target pieces of data determined to satisfy predetermined conditions; based on the target pieces of data and an optimization model, obtaining optimized model parameters that minimize a cumulative error between a predicted yaw rate of a yaw rate model of the vehicle and a measured yaw rate of the vehicle; and updating the yaw rate model of the vehicle by using the optimized model parameters.