A trailer backup assist system for a vehicle reversing a trailer includes a sensor module adapted to attach to the trailer and generate a trailer yaw rate or a trailer speed. The trailer backup assist system also includes a vehicle sensor system that generates a vehicle yaw rate and a vehicle speed. Further, the trailer backup assist system includes a controller that estimates a hitch angle based on the trailer yaw rate or the trailer speed and the vehicle yaw rate and the vehicle speed in view of a kinematic relationship between the trailer and the vehicle.

An apparatus and a method are provided for controlling rotation of a vehicle in consideration of slip. The apparatus includes a radius of curvature setting unit that sets a target radius of curvature of rotation of the vehicle while the vehicle is being driven and a radius of curvature calculation unit that estimates an actual radius of curvature of a traveling vehicle based on forward speed and lateral acceleration of the vehicle. Additionally, a radius of curvature adjustment unit adjusts a yaw direction rotation moment of the vehicle based on a difference between the target radius of curvature set by the radius of curvature setting unit and the estimated radius of curvature estimated by the radius of curvature calculation unit to adjust the radius of curvature of rotation of the vehicle.

A driver assistance system that can reduce time delays in acquiring the traveling state of a vehicle and can stably control the vehicle. In the driver assistance system, a vehicle-mounted camera acquires an image including the boundary of a driving lane on which a vehicle travels. A target path generator generates a target path that is a path, on which the vehicle has to travel on the driving lane, based on the image. A traveling state acquirer acquires the traveling state of the vehicle on the driving lane based on the image. A controller performs steering control for causing the vehicle to travel along the target path based on the target path and the traveling state. A compensator compensates a time delay when the traveling state acquirer acquires the traveling state.

A driving control apparatus includes: a movement control unit that controls movement of a vehicle in accordance with a first movement path indicating a movement trajectory to a first target position that is a movement destination of the vehicle; and a movement path calculating unit that calculates a second movement path as a movement path to a second target position from a position after the vehicle moves from a current position of the vehicle for a predetermined period of time along the first movement path, wherein the movement control unit controls movement of the vehicle to the second target position in accordance with the second movement path after causing the vehicle to move along the first movement path for the predetermined period of time.

A turning system is configured to move a turning shaft to turn a left wheel and a right wheel of a vehicle. The turning shaft is configured to couple the left wheel and the right wheel to each other. A torsion bar is engaged with the turning shaft via a steering gear box. The turning system includes: a turning mechanism including (i) an electric turning mechanism including an electric motor configured to rotate a portion of the torsion bar which is located upstream of the steering gear box and (ii) a hydraulic turning mechanism configured to apply a moving force to the turning shaft in an axial direction, the moving force being produced by a hydraulic pressure; and an electric-motor controller configured to control the electric motor based on a frictional force in the turning mechanism and a road-surface reaction force that acts between (a) a tire on the left wheel and a tire on the right wheel and (b) a road surface.

In an example embodiment, a vehicle control system includes a memory including computer-readable instructions stored therein and a processor. The processor configured to execute the computer-readable instructions to receive information corresponding to, a yaw rate of a vehicle, a lateral position of the vehicle and a heading angle of the vehicle, determine a stability indicator indicating an estimate of a stability of the vehicle based on the received information, and adjust one or more gains of a steering system of the vehicle based on the determined stability indicator.

A lane deviation prevention control device for a vehicle includes a target yaw rate calculator, a target steering torque calculator, and an integration permission determiner. The integration permission determiner determines, on the basis of a state of an own vehicle with respect to a lane and on the basis of a state of an actual yaw rate with respect to a target yaw rate, whether or not to permit an integral control in a proportional integral differential control, in executing a feedback control on the target yaw rate by the proportional integral differential control.

A lane deviation prevention control device for a vehicle includes an exterior information detector and a lane deviation prevention control start determiner. The lane deviation prevention control start determiner determines to start a lane deviation prevention control even when an own vehicle has already deviated from an own lane on which the own vehicle is traveling, on the condition that the exterior information detector detects an approaching vehicle that is approaching the own vehicle, on an adjacent lane on deviation side on which deviation is taking place, and that a lateral position of the own vehicle is equal to or smaller than a control start threshold.

A method for controlling a course of a marine vessel powered by a marine engine as it moves in a body of water includes determining a current global position and a current heading of the vessel and initiating an auto-waypoint mode of a vessel course control system. In response to initiation of the auto-waypoint mode, the method includes setting a course for the vessel based on a current position of a steering wheel of the system and the vessel's current global position. The method thereafter includes automatically rotating a steerable component coupled to the vessel and rotatable to affect a direction of movement of the vessel so as to counteract external forces on the vessel and thereby to maintain the vessel's set course.

The present disclosure provides a steering control method and system for rear-wheel steering that improves driving stability and yaw responsiveness of a vehicle by controlling rear wheels on the basis of a driving state of a vehicle. The method and system receives a vehicle speed and a front-wheel turning angle and calculates a rear-wheel same/inverse-phase control amount; estimates tire slip angles when the vehicle is driven such that the rear wheels are controlled with the same phase; calculates a final rear-wheel turn control value by reflecting a control weight proportioned to the tire slip angle estimation value to the rear-wheel same-phase control amount; and turns the rear wheels on the basis of the final rear-wheel turn control value.