A method for deactivating an automated driving mode of a vehicle involves automatically terminating the automated driving mode if, due to a manual steering torque acting on the steering wheel of the vehicle, a system steering torque generated by a control system of an assistance system for automated driving mode in terms of amount is exceeded by a predetermined first value if at least one hand of a vehicle user is detected on the steering wheel of the vehicle, is exceeded by a predetermined second value if neither of the vehicle user's hands is detected on the steering wheel, or is exceeded by a predetermined third value if it is determined that the vehicle user is distracted from the driving situation, or if it is determined that there is a lateral collision risk for the vehicle and the manual steering torque of the vehicle user is acting in the direction of the collision risk.

A driver support device includes: a drive device configured to change a steering angle being an angle of a steered wheel of a vehicle by applying torque to a steering shaft coupled to a steering wheel of the vehicle; and a control unit. The control unit executes lane departure avoidance control controlling the drive device to change the steering angle to avoid departure of the vehicle from a traveling lane when a start condition is satisfied, and is configured to execute the lane departure avoidance control such that, when a holding position of the steering wheel by a driver does not meet a predetermined specific condition upon satisfaction of the start condition, a magnitude of a steering angular velocity being an amount of change in the steering angle per unit time is smaller than the magnitude when the holding position meets the specific condition upon satisfaction of the start condition.

A method for ascertaining a highly accurate piece of yaw rate information for controlling a vehicle is provided. The method includes ascertaining a first yaw rate estimated value of the vehicle based on a fusion of sensor data of an inertial sensor, a GNSS sensor, a wheel velocity sensor and/or a steering angle sensor; ascertaining a second yaw rate estimated value of the vehicle by an evaluation of sensor data of a camera assigned to the vehicle, which optically detects the surroundings of the vehicle; carrying out a correction of the first yaw rate estimated value with the aid of the second yaw rate estimated value to ascertain a corrected yaw rate estimated value; and outputting the corrected yaw rate estimated value as a piece of yaw rate information to generate a control signal for controlling the vehicle.

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.

A control method of an in-wheel motor vehicle includes: determining, by a controller, a state of a steering load that is a load of a steering system; maintaining, by the controller, a front wheel brake in a released state, when the state of the steering load is in a high load state of a predetermined level or more; determining, by the controller, a tire angle of a front wheel according to a driver steering input based on driver steering input information in the released state of the front wheel brake; determining, by the controller, a required tire rotational angle of the front wheel by using the determined tire angle of the front wheel; and reducing, by the controller, the steering load by driving an in-wheel motor of the front wheel for a compensation by the determined required tire rotational angle of the front wheel.

An electrically controlled differential gear is disposed between a right front wheel and a left front wheel of a vehicle. The electrically controlled differential gear includes a clutch mechanism that limits a differential operation of the electrically controlled differential gear. A second ECU (control portion) obtains information as to failure associated with actuation of a right front electric brake mechanism. The second ECU obtains a physical amount relating to a required braking force which is applied to the left front wheel and the right front wheel. The second ECU outputs a differential limiting control command for limiting the differential operation of the electrically controlled differential gear to the clutch mechanism (or more specifically, a differential ECU that controls the clutch mechanism) based on the information as to the failure and the physical amount relating to the required braking force.

A driver assistance method and a driver assistance apparatus are provided, which may be applied to the field of autonomous driving or intelligent driving. The driver assistance method includes: determining that a driver is in an abnormal state; determining that a first operation performed by the driver on a first terminal is an abnormal operation; and performing first processing, where the first processing includes outputting indication information and/or control information, and the indication information or the control information indicates a second operation performed on the first terminal, or the first processing includes controlling the first terminal to perform the second operation.

A vehicle control device includes a motor control unit, a turning control unit, and a turning information detection unit. The motor control unit controls electric motor. The turning control unit controls a turning device. The vehicle control device, by the motor control unit controlling the electric motor and the turning control unit controlling the turning device when the turning information detection unit detects information related to turning of the wheels, controls a turning force as a force to be applied to the tire of the wheel in order to turn the vehicle.

A method of switching a control right according to a driving mode of a vehicle in a control right switching system operated by at least one processor is provided. Upon receiving a command to switch a driving mode of a vehicle being in any one driving mode of a manual driving mode or an autonomous driving mode, a torque value of a control unit that controls the vehicle according to a current driving mode of the vehicle is initialized. Furthermore, after transferring a driving mode control right of the vehicle from a vehicle to a driver or from the driver to the vehicle by increasing or reducing a vehicle control right to control the vehicle, whether to switch the driving mode is determined through monitoring information obtained by the control unit in the vehicle whose driving mode was switched during a predetermined time period.

Aspects of the disclosure provide for determining when to provide and providing secondary disengage alerts for a vehicle having autonomous and manual driving modes. For instance, while the vehicle is being controlled in the autonomous driving mode, user input is received at one or more user input devices of the vehicle. In response to receiving the user input, the vehicle may be transitioned from the autonomous driving mode to a manual driving mode and provide a primary disengage alert to an occupant of the vehicle regarding the transition. Whether to provide a secondary disengage alert may be determined based on at least circumstances of the user input. After the transition, the secondary disengage alert may be provided based on the determination.