Techniques are described for estimating road friction between a road and tires of a vehicle. A method includes receiving, from a temperature sensor on a vehicle, a temperature value that indicates a temperature of an environment in which a vehicle is operated, determining a first range of friction values that quantify a friction between a road and tires of a vehicle based on a function of the temperature value and an extent of precipitation in a region that indicate a hazardous driving condition, obtaining, from the first range of friction values, a value that quantifies the friction between the road and the tires of the vehicle, where the value is obtained based on a driving related behavior of the vehicle, and causing the vehicle to operate on the road based on the value obtained from the first range of friction values.

A control system for a vehicle is provided, which includes an accelerator pedal and a steering wheel configured to be operated by a driver, an accelerator opening sensor configured to detect an accelerator opening corresponding to operation of the accelerator pedal, a steering angle sensor configured to detect a steering angle corresponding to operation of the steering wheel, and a controller configured to set an additional deceleration to be applied to the vehicle in order to control a posture of the vehicle based on the detected steering angle, when the steering wheel is turned, and apply the additional deceleration to the vehicle. The controller sets the additional deceleration based on the detected accelerator opening, in addition to the steering angle, and sets the additional deceleration larger while the vehicle is towing than while the vehicle is not towing, when the additional decelerations are compared at the same accelerator opening.

A control apparatus of a vehicle includes: a steering apparatus (6) including a steering wheel (11) operated in order to turn a vehicle (1) and a steering angle sensor (8) that detects a steering angle of the steering wheel (11), the steering apparatus (6) steering a front wheel (steered wheel) (2) of the vehicle (1) in accordance with operation of the steering wheel (11); and a controller (14) that sets a steering angle acceleration based on the steering angle detected by the steering angle sensor (8) and controls vehicle motion when the steering wheel (11) is operated to be turned. In particular, the controller (14) suppresses a rise of lateral acceleration of the vehicle (1) based on the steering angle acceleration in order to control the vehicle motion.

A method autonomously controls a mobility of an automotive apparatus, which mobility is such as to have an influence on the path of the apparatus. The method includes steps of: acquiring parameters relative to the path of the apparatus, and of computing a new control setpoint for the mobility of the apparatus depending on said parameters, this new control setpoint being determined by means of a controller that respects a model that limits the variation in the control setpoint.

A method for controlling switching of steering control rights of an autonomous vehicle, may include: when switching of the steering control rights from an automated driving mode to a manual driving mode is requested, performing a control to synchronize a steering angle of a steering wheel and a steering angle of a road wheel; when a hands-on state in which the steering wheel is gripped is detected in the synchronization process, detecting an error value between the steering angle of the steering wheel and the steering angle of the road wheel; and when the error value is less than a preset value, performing a control to switch the mode of the autonomous vehicle to the manual driving mode.

Provided are a vehicle control device, a vehicle control method, and a non-transitory storage medium. The vehicle control device includes: an acquisition part, acquiring a positional relationship between a vehicle and a lane; a control part, performing in-lane travel control that causes an actuator included in a steering device of the vehicle to output a force for causing the vehicle to travel in the lane within a range not exceeding an upper limit based on the positional relationship; and an upper limit adjustment part, changing the upper limit in response to an input to an operator that accepts a steering operation performed by an occupant of the vehicle.

Techniques are described herein for generating trajectories for autonomous vehicles using velocity-based steering limits. A planning component of an autonomous vehicle can receive steering limits determined based on safety requirements and/or kinematic models of the vehicle. Discontinuous and discrete steering limit values may be converted into a continuous steering limit function for use during on-vehicle trajectory generation and/or optimization operations. When the vehicle is traversing a driving environment, the planning component may use steering limit functions to determine a set of situation-specific steering limits associated with the particular vehicle state and/or driving conditions. The planning component may execute loss functions, including steering angle and/or steering rate costs, to determine a vehicle trajectory based on the steering limits applicable to the current vehicle state.

Techniques are described for estimating road friction between a road and tires of a vehicle. A method includes receiving, from a temperature sensor on a vehicle, a temperature value that indicates a temperature of an environment in which a vehicle is operated, determining a first range of friction values that quantify a friction between a road and tires of a vehicle based on a function of the temperature value and an extent of precipitation in a region that indicate a hazardous driving condition, obtaining, from the first range of friction values, a value that quantifies the friction between the road and the tires of the vehicle, where the value is obtained based on a driving related behavior of the vehicle, and causing the vehicle to operate on the road based on the value obtained from the first range of friction values.

The disclosure generally describes a system and method for determining a preferred steering wheel rate in autonomous and semi-autonomous driving systems that includes measuring a torque applied to the steering wheel by a driver during an autonomous driving mode, measuring the steering wheel position, measuring the steering wheel rate of rotation, wherein the steering position and rate of rotation are measured at the time when the torque was applied to the steering wheel, determining a preferred steering wheel rate of rotation, and adjusting the steering wheel rate of rotation during an autonomous driving maneuver to include the preferred steering wheel rate.

A drive assist system includes an occupant monitoring apparatus, a determination apparatus, and a drive assist control apparatus. The occupant monitoring apparatus monitors a physical state of an occupant, including a driver, of a vehicle. The determination apparatus determines a traveling state and a stopped state of the vehicle. The drive assist control apparatus executes a control to secure safe traveling upon determining that sleep duration of the occupant is less than a predetermined time and quality of sleep thereof is lower than a predetermined level on the basis of monitoring information acquired by the occupant monitoring apparatus. The drive assist control apparatus includes one or more processors that perform, in a case where determination information from the determination apparatus indicates the stopped state, a control of appropriately restricting the driver's driving operation on the basis of at least the sleep duration and the quality of sleep of the driver.