A computer includes a processor and a memory, the memory storing instructions executable by the processor to initiate a calibration based on a portable device stability and a steering wheel angle, detect a vehicle pedal actuation, and, then, based on a portable device acceleration, determine a calibration vector between a portable device coordinate system and a vehicle coordinate system.

The disclosed embodiments include a onboard driver distraction determination system. The determination system includes a onboard sensing and computing system(s), which includes inertial sensor(s), internal sensor(s), and external sensor(s). The onboard system samples data from the sensor(s) during a driving session to determine steering activity metrics and driver behavior. A steering activity metric is a representation of the steering inputs by the driver during the driving session. Driver behavior is a representation of how distracted the driver is during the driving session. By performing the above mentioned steps, the system can provide an analysis of driver distraction and optionally, take control of the vehicle to avoid aberrant behavior.

This on-vehicle communication apparatus is configured to communicate with another on-vehicle communication apparatus by using one differential signal line, and includes: a high-band communication unit configured to generate a high-band signal including communication information and output the high-band signal to the differential signal line; and a low-band communication unit configured to generate a direct-current signal or a low-band signal and to output the direct-current signal or the low-band signal to the differential signal line.

Vehicles including a plurality of front and rear ground engaging members, a front driveline operatively coupled to a first power source, a rear driveline operatively coupled to a second power source, at least one controller operatively coupled to the first drive system and the second drive system are disclosed. The vehicles may further include a torque request input adapted to be actuatable by an operator of the vehicle. The torque request input may provide an indication of a requested torque to the at least one controller. The at least one controller may, based on the requested torque, command a first output of the first drive system to the at least one front ground engaging member and a second output of the second drive system to the at least one rear ground engaging member. Vehicle drive control systems are also disclosed. Methods of controlling torque and battery management are also disclosed.

Provided is a travel control device for a vehicle such that comfortable and safe control for the vehicle is possible without disturbing the driver. The travel control device for the vehicle is provided with a control command computation unit for calculating a steering assist amount for assisting the steering of the vehicle and an acceleration command value for controlling braking and driving forces of the vehicle. The control command computation unit calculates an estimated lateral position of the vehicle at a gaze distance ahead of the vehicle; calculates a lateral displacement amount of the vehicle at the estimated lateral position from a target traveling path and a lateral displacement speed; calculates a steering assist amount on the basis of the lateral displacement amount and the lateral displacement speed; calculates a lateral acceleration and lateral jerk generated by the vehicle according to the steering assist amount; and calculates an acceleration command value based on the lateral acceleration and the lateral jerk.

A braking and driving force control device includes a target braking and driving force calculation unit, and a braking and driving force distribution unit. The braking and driving force distribution unit causes a driving device to generate a target braking and driving force in a case where the target braking and driving force is within the availability, and in a case where the target braking and driving force is less than a lower limit value of the availability, causes the driving device to generate a braking and driving force corresponding to the lower limit value of the availability, performs arithmetic processing of suppressing time variation on the lower limit value of the availability, and causes a braking device to generate a braking force corresponding to a difference between the lower limit value of the availability after the arithmetic processing and the target braking and driving force.

A method of detecting steering wheel angle instability in an auto-guided vehicle includes measuring a steering wheel angle at a plurality of time instances within a pre-determined time window to obtain an array of values of the steering wheel angle, performing a frequency analysis of the array of values of the steering wheel angle to obtain a frequency spectrum of the steering wheel angle, comparing the frequency spectrum of the steering wheel angle to a pre-defined threshold frequency spectrum to determine whether a magnitude of the frequency spectrum of the steering wheel angle at any frequency exceeds a magnitude of the threshold frequency spectrum, and upon determining that a magnitude of the frequency spectrum of the steering wheel angle at one or more frequencies exceeds a magnitude of the pre-defined threshold frequency spectrum, determining that a steering wheel angle instability is present.

A method for adjusting driveline torque output of a vehicle is described. In one example, driveline output torque of a vehicle is decreased via switching from a first curve of a transfer function to a second curve of the transfer function, and then adjusting driveline output responsive to the second curve of the transfer function.

A non-transitory computer readable medium contains an evaluation program that causes a computer to perform steps of obtaining a vehicle stability score of vehicle driving skills based on measured data, obtaining a turning performance score of the vehicle driving skills based on the measured data, obtaining an overall evaluation result of the vehicle driving skills based on the vehicle stability score and the turning performance score using conversion information, and conveying the overall evaluation result to an output unit. The conversion information defines the overall evaluation result such that the overall evaluation result decreases as the turning performance score increases if the vehicle stability score is lower than a threshold and such that the overall evaluation result increases as the turning performance score increases if the vehicle stability score is higher than the threshold.

In an embodiment a control apparatus includes a processor configured to calculate a target curvature depending on a target path of a vehicle, calculate a first lateral control value based on a feedforward control by using the target curvature, calculate a second lateral control value based on a feedback control by using vehicle information collected from a sensing device of the vehicle, estimate a disturbance by using the vehicle information collected from the sensing device of the vehicle, and calculate a final lateral control command value by summing the first lateral control value, the second lateral control value, and the disturbance and a storage configured to store data and algorithms driven by the processor.