A lane departure prevention control apparatus for a vehicle includes a traveling-environment recognition unit configured to detect lane lines, a steering-angle detector, a vehicle-behavior detector, a predicted departure determination unit, a lane departure prevention control processor, and a steering override determination unit. The predicted departure determination unit is configured to predict whether the vehicle is to depart from the lane. The lane departure prevention control processor is configured to set a target steering angle and execute a lane departure prevention control. The steering override determination unit is configured to check presence of steering override based on the driver's steering-wheel operation. The lane departure prevention control processor is configured to set the target steering angle in a direction to assist the steering-wheel operation in a case where the steering override is present and the target steering angle is in a steering-decrease direction relative to the actual steering angle.

A turning controller for a vehicle is configured to execute: a time obtaining process that obtains collision prediction time; a lateral movement amount determining process that determines whether a target lateral movement amount is greater than or equal to a lateral movement amount determination value; and an automatic turning process that, in a case in which the collision prediction time is shorter than or equal to a determination prediction time, outputs a command for steering the front wheel to the front wheel steering device and outputs a command for steering the rear wheel to the rear wheel steering device, in order to avoid a collision between the vehicle and the obstacle; a counter-phase process in the automatic turning process in a case in which the target lateral movement amount is determined to be greater than or equal to the lateral movement amount determination value.

A traction saddle disposed on a tractor for connection with a traction pin of a trailer, is provided. The traction saddle includes a base, a gear set, and a damper. A gear carrier of the gear set fixes axial centers of the planetary gears of the gear set, the planetary gears are meshed with an inner ring gear of the gear set, and the inner ring gear is fixed to the base. The gear carrier is used for fixing the traction pin to rotate with the traction pin. The planetary gears are meshed with one end of a sun gear of the gear set to drive the sun gear to rotate, and the damper is connected to the other end of the sun gear to apply resistance to rotation of the sun gear. In addition, a traction pin, a tractor, a trailer, and a truck are also provided.

A turning control device is for a vehicle having four wheels that are mechanically separated and steered independently. The four wheels are left and right wheels of a front row and a rear row. The turning control device controls four steering actuators corresponding to the four wheels. The turning control device includes a controller that performs feedback control of the four steering actuators to reduce a deviation for each of the four wheels. The deviation is a difference between a state parameter convertible into a turning angle and a target value of the state parameter set according to steering of a steering wheel. The controller executes a responsiveness changing process of changing a responsiveness of the feedback control so that the deviation is likely to be smaller in a vehicle straight traveling state than in a vehicle non-straight traveling state.

According to one embodiment, a method, computer system, and computer program product for preventing tipping of a load during transport by a vehicle is provided. The present invention may include retrieving a tipping point of the load, based on a center of gravity of the load, a speed of the vehicle, and a turning radius of the vehicle, wherein the tipping point is based on a simulation utilizing finite element analysis; and responsive to determining that the center of gravity of the load is within a threshold distance of the tipping point, taking a corrective action which may include controlling the speed or turning radius of the vehicle.

A vehicle control system (30) for controlling a behavior control device (20) that controls a behavior of a vehicle (1), comprising: a feed-forward computing unit (71) that computes a feed forward control amount of the behavior control device according to a steering angle of the vehicle; a feedback computing unit (72) that computes a feedback control amount of the behavior control device according to a difference between a target vehicle state amount computed from the steering angle and an actual vehicle state amount; a correcting unit (73) that computes a corrected feed-forward control amount by correcting the feed forward control amount according to the feedback control amount; and a target control amount computing unit (74) that computes a target control amount of the behavior control device according to the feedback control amount and the corrected feed forward control amount.

Four-wheel steering of a vehicle, e.g., in which leading wheels and trailing wheels are steered independently of each other, can provide improved maneuverability and stability. A first vehicle model may be used to determine trajectories for execution by a vehicle equipped with four-wheel steering. A second vehicle model may be used to control the vehicle relative to the determined trajectories. For instance, the second vehicle model can determine leading wheels steering angles for steering leading wheels of the vehicle and trailing wheels steering angles for steering trailing wheels of the vehicle, independently of the leading wheels.

A method of controlling rear wheel steering in a vehicle including determining a stability state of the vehicle from a plurality of vehicle sensor inputs, determining a target vehicle performance based on the stability state of the vehicle, and determining a target rear angle of rear vehicle wheels based on a difference between a target vehicle characteristic and a model vehicle characteristic, wherein the target vehicle performance promotes agility and stability to a target model at different times based on the stability state of the vehicle.

A work vehicle includes: a body frame; a front weight at a front end portion of the body frame; a support mechanism supporting the front weight in such a manner that the front weight is movable in a front-back direction relative to the body frame; and a drive actuator configured to move the front weight in the front-back direction relative to the body frame between (i) a back position, at which the front weight is close to the body frame, and (ii) a front position, at which the front weight is far from the body frame.

A driving assistance device of a vehicle connected to a trailer, a vehicle system including the same, and a method thereof are provided. The vehicle driving assistance device includes a processor that determines a driving situation and a braking situation of a vehicle towing a trailer based on vehicle's internal signals and determines an amount of rear wheel steering control and an amount of braking control based on the driving situation and the braking situation of the vehicle and a storage storing the amount of rear wheel steering control and the amount of braking control, determined by the processor, and the vehicle's internal signals.