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.

Crawl operations for four-wheel steering vehicles are described herein. An example vehicle described herein includes four wheels, a front steering actuator to turn the front wheels, a rear steering actuator to turn the rear wheels, a front drive motor to drive the front wheels, and a rear drive motor to drive the rear wheels. The vehicle also includes an electronic control unit (ECU) to activate the front steering actuator to turn the front wheels in a first direction, activate the rear steering actuator to turn the rear wheels in a second direction opposite the first direction such that the front wheels and the rear wheels are turned in opposite directions, activate the front drive motor to drive the front wheels in a reverse direction, and activate the rear drive motor to drive the rear wheels in a forward direction while the front wheels are driven in the reverse direction.

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 toe variable control method includes a toe linearization mapping control in which a toe control is switched from a constant control amount to a variable control amount in a rear wheel steering system by bump/rebound speeds of a bump and a rebound becoming a variable when the bump and rebound of a wheel are detected by a controller.

An over actuated system capable of controlling wheel parameters, such as speed (e.g., by torque and braking), steering angles, caster angles, camber angles, and toe angles, of wheels in an associated vehicle. The system may determine the associated vehicle is in a rollover state and adjust wheel parameters to prevent vehicle rollover. Additionally, the system may determine a driving state and dynamically adjust wheel parameters to optimize driving, including, for example, cornering and parking. Such a system may also dynamically detect wheel misalignment and provide alignment and/or corrective driving solutions. Further, by utilizing degenerate solutions for driving, the system may also estimate tire-surface parameterization data for various road surfaces and make such estimates available for other vehicles via a network.

A lane maintaining assistance device 1 is provided with the following: a first assistance unit that performs steering assistance of a vehicle by hydraulic pressure; a second assistance unit that performs steering assistance of the vehicle using a motor; and a steering assistance control unit 83 that reduces the steering assistance amount of the first assistance unit and starts steering assistance by the second assistance unit if the vehicle is determined to have entered a curve on the basis of a captured image in which a portion of the lane which is forward in the vehicle advancing-direction is captured.

Methods and systems for operating axles of a vehicle are provided. In one example, a propulsion source of a first axle is operated in a torque control mode at a first torque and a propulsion source of a second axle is operated in a torque control mode at a second torque. Torque of the propulsion sources may be adjusted as a function of steering angle.

A vehicle includes a propulsion system configured to selectively drive at least one wheel of a plurality of wheels, a brake system configured to selectively brake at least one wheel of the plurality of wheels, and a dig lock controller in signal communication with the propulsion system and the brake system. The dig lock controller is configured to, based on a driver request, selectively perform a vehicle rotating dig lock operation by braking one wheel of the plurality of wheels while driving at least one other wheel of the plurality of wheels to move the vehicle laterally about a pivot point at least partially defined by the braked wheel.

A vehicle steering system includes a first tire-wheel assembly steering device, a second tire-wheel assembly steering device, and a controller. The controller is configured to control the first tire-wheel assembly steering device and the second tire-wheel assembly steering device such that a steered position of each of the right tire-wheel assembly and the left tire-wheel assembly matches a target steered position. The controller is configured to execute, when a turning index indicating severity of turning exceeds a set threshold value, a steered position change process of changing a steered position of one of the right tire-wheel assemblies and the left tire-wheel assemblies such that turning characteristics of the vehicle have a stronger understeer tendency compared with a case where the turning index does not exceed the set threshold value.

The disclosure relates to a steering control system useful for providing stable control during high-speed operation of harvesters, such as self-propelled windrowers. The steering control system utilizes sensors for detecting a ground drive wheel speed or a swash plate position of hydraulic pumps for determining an angle of curvature used as input for controlling a steering cylinder associated with a first caster.