A method is proposed for maneuvering a vehicle. The vehicle has a steer-by-wire steering system having a steering handle and a steering gear actuator for changing a travel direction of the vehicle. In a manual driving operating state, a maneuvering process is detected based on a steering specification at the steering handle and a vehicle velocity. A target vehicle trajectory correlated with a driver intention for the maneuvering process is ascertained or predicted based on the steering specification at the steering handle and an environmental condition. An actual vehicle trajectory is progressively compared during the maneuvering process to the target vehicle trajectory. The actual vehicle trajectory is corrected in the event of a deviation from the target vehicle trajectory by means of a maneuvering assistance function and by an assisting intervention of the maneuvering assistance function in a lateral control of the vehicle.

A vehicular control system includes a plurality of sensors disposed at a vehicle, and a control having a data processor. Data captured by the sensors is processed at the control to determine presence of other vehicles and to determine respective speeds and directions of travel of the determined vehicles. The system determines a respective influence value for each of the determined vehicles based on a respective determined potential hazard. The system determines a plurality of potential paths of travel for the equipped vehicle to follow based on the determined respective influence values for the determined vehicles. The system selects, from the determined plurality of potential paths of travel, a path of travel for the equipped vehicle to follow that limits conflict with the determined vehicles. The system at least in part controls steering of the equipped vehicle to guide the equipped vehicle along the selected path of travel.

A method for generating a lateral offset trajectory for an at least partially automated mobile platform. The method includes: providing a target lateral offset; inverting a provided dynamic model of the mobile platform; providing at least one limit of a system variable of the dynamic model for determining the lateral offset trajectory; determining a time sequence of lateral offset trajectory points for the inverted dynamic model with a state variable filter, based on the limit(s) of the system variable, and the target lateral offset as an input signal; and determining a time sequence of values of at least one manipulated variable for the mobile platform, using the inverted dynamic model and the time sequence of the lateral offset trajectory points as an input signal for the inverted dynamic model, to generate the lateral offset trajectory.

The vehicle control device of the present invention acquires characteristics of a road condition in front of a traveling vehicle based on external information; acquires vehicle behavior control variables for controlling the behavior of the vehicle based on estimated state variables of the vehicle that are obtained based on the characteristics, and control variables concerning speed of the vehicle based on the external information; acquires trajectory tracking control variables for causing the vehicle to track the target trajectory based on the target trajectory on which the vehicle travels that are obtained based on the characteristics and the estimated state variables; and outputs the control commands for controlling the suspension device, steering device, and braking and driving device based on the vehicle behavior control variables and the trajectory tracking control variables. This improves travel stability of the vehicle on a road surface on which an irregularity such as ruts exists.

A trailer flank object contact avoidance system for a vehicle towing a trailer includes a sensor system configured to detect objects in an operating environment of the vehicle and a controller. The controller processes information received from the sensor system to monitor a relative position of at least one object with respect to the vehicle during driving and determines an instantaneous path of the trailer based on a vehicle steering angle and whether the instantaneous path of the trailer would bring the trailer into contact with the at least one object. The controller issues a coaching notification to the driver that reverse driving is required to prevent contact between the trailer and the vehicle when a corrective steering angle cannot prevent contact of the trailer with the at least one object during forward driving.

A method for controlling a vehicle to make an emergency stop of the vehicle providing a camera and an electronic control unit (ECU) at the vehicle. Presence of a road condition is determined at the road along which the vehicle is traveling. Responsive to determining an emergency driving condition while the vehicle is traveling along the road at the road condition, the ECU at least partially controls driving of the vehicle along the road. While the ECU is at least partially controlling driving of the vehicle along the road, and responsive to determining an end of the road condition, a target stopping location is determined ahead of the vehicle at the road along which the vehicle is traveling and after the end of the road condition. The ECU at least partially controls driving of the vehicle to the target stopping location.

The invention relates to a method of controlling steering of a vehicle (1), comprising the steps of: acquiring (S1) a signal indicative of a driver request indicative of a desired wheel angle of a turnable vehicle wheel (5); determining (S2), based on the signal indicative of the driver request, a control signal for an actuator (13) coupled to the turnable vehicle wheel to achieve the desired wheel angle; controlling (S3) the actuator (13) using the control signal; detecting (S4) an abrupt wheel disturbance event; and in response to detecting the abrupt wheel disturbance event: acquiring (S5), from a lane detecting arrangement (19), a signal indicative of a lane curvature ahead of the vehicle (1); and controlling (S6) the actuator (13) based on the lane curvature ahead of the vehicle (1).

A control device for a vehicle equipped with a steering system including a steering wheel (13), a rack (12) for steering the wheels (4) of the vehicle, and a redundant arrangement for transmitting a displacement of the steering wheel to the rack, wherein upon detecting a failure in the redundant arrangement, the control device sets an upper limit speed to a first value in a first stage, and changes the upper limit speed from the first value to a second value smaller than the first value in a progressive manner in a second stage that follows the first stage.

An industrial vehicle is provided comprising a drive mechanism, a steering mechanism, a vehicle controller, a camera, and a navigation module. The camera is communicatively coupled to the navigation module, the vehicle controller is responsive to commands from the navigation module, and the drive mechanism and the steering mechanism are responsive to commands from the vehicle controller. The camera is configured to capture an input image of a warehouse ceiling comprising elongated skylights, isolated ceiling lights, and/or active optical targets. The navigation module is configured to distinguish between the ceiling lights and the skylights and send commands to the vehicle controller for localization, or to navigate the industrial vehicle through the warehouse based upon valid ceiling light identification, valid skylight identification, valid active target identification, or combinations thereof.

Spin controller that can enable an autonomous vehicle (AV) to spin in place. A model predictive controller (MPC) can trigger the spin controller any time the MPC determines that a spin in place is required. In some configurations, the spin controller can move the AV to within 5° of the destination point. Spin controller can determine spin method based on the configuration of the AV, calculate an optimum turning path based at least on device mode and obstacles, and can enable the AV to spin in place.