A method can be used to control a steer-by-wire steering system for a motor vehicle that has two axles each with two wheels. Two front wheels can be steered by front-wheel steering and two rear wheels can be steered by rear-wheel steering. The motor vehicle includes a single wheel drive that is assigned to one of the two axles and drives the two wheels of the corresponding axle via a differential. The motor vehicle comprises an inboard braking system. The method involves checking the motor vehicle speed and activating rear-axle steering when a motor vehicle speed should be slower than 40 km/hr. With rear-axle steering active, the following steps are performed: deactivating front-wheel steering and rear-wheel steering, determining a reference position of a first steering rod via a reference wheel steering angle, determining a differential drive torque between the rear wheels to reach the reference position via a control unit.

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.

Control system and method which is adapted for use in a motor vehicle and intended to effect an at least semi-autonomous driving operation of the motor vehicle by means of assigned actuators on the basis of environmental data which are obtained from one or more environment sensors assigned to the motor vehicle, and wherein the control system is adapted and intended to detect a failure of a conventional steering system of the motor vehicle and attempt a change of direction of the vehicle, which corresponds to a desired steering angle, from current driving parameters by means of matched acceleration and/or deceleration interventions at individual wheel drives or wheel brakes, respectively, of the vehicle.

A movement route generating apparatus includes an angle calculating unit calculating an angle formed by a vehicle travel direction at a target position compared with that at the current position, a graph generating unit generating a graph that has most gentle inclinations by plotting the curvature of a travel trajectory matching the steering angle of the vehicle and a distance traveled on two axes, under the condition that the area of a graph generated in correspondence to a travel trajectory from the current position to the target position is equal to the angle and other conditions, and a route setting unit setting a travel trajectory represented by the graph as the movement route of the vehicle. Accordingly, a travel trajectory with the smallest degree of change in curvature per unit distance traveled, that is, a low horizontal angular velocity caused by vehicle steering, can be set as a movement route.

The disclosure relates to a method for generating a reference trajectory within a lane for a vehicle. The method comprises receiving at least one vehicle current state parameter describing a current state of the vehicle (S11). The current state of the vehicle comprises at least a current position of the vehicle. Furthermore, a destination parameter describing a destination to be reached by the vehicle (S12), and at least one route parameter describing a route for reaching the destination (S13) are received. Moreover, the method comprises estimating a power loss being caused when traveling from the current position of the vehicle to the destination (S14). The reference trajectory within the lane is determined such that it minimizes the power loss and leads to the destination (S15). Additionally, a method for operating a vehicle is presented. According to this method, a reference trajectory is generated in accordance with the above method (S21) and at least one control signal is provided for controlling a motion of the vehicle along the reference trajectory (S22). Furthermore, a data processing apparatus, a vehicle and a computer-readable medium are presented.

The vehicle driving assistance apparatus determines whether an own vehicle departs from an own vehicle moving lane while executing a steering avoidance control. When determining that the own vehicle departs from the own vehicle moving lane while executing the steering avoidance control, the vehicle driving assistance apparatus acquires a steering angle determined by a steering angle control pattern, changes the acquired steering angle to be a value to move the own vehicle toward a center of the own vehicle moving lane, sets the changed steering angle as a target steering angle, acquires a deceleration determined by a deceleration control pattern, increases the acquired deceleration, and sets the increased deceleration as a target deceleration.

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

An apparatus includes at least one camera configured to capture an image of a traffic lane in front of a vehicle. The apparatus also includes a path tracking controller configured to detect lane boundaries and a path curvature for the traffic lane from the image, determine a lateral offset of the vehicle from a reference path for the traffic lane and a heading offset for the vehicle from the path curvature, determine a yaw rate maintaining the vehicle within the traffic lane using a kinematics control, determine a steering angle maintaining the vehicle within the traffic lane using a dynamics control and the yaw rate determined by the kinematics control, and activate a steering control based on the determined steering angle.

An apparatus and method for controlling driving of a vehicle are provided and the apparatus includes a lamp that projects a lamp light onto one of a left floor surface or a right floor surface of the vehicle, a camera that obtains an image of an area onto which the lamp light is projected, and a controller that determines whether to output a warning based on the image of the area onto which the lamp light is projected when the lamp light is projected onto a boundary stone located around at least one of the left floor surface or the right floor surface of the vehicle.

The disclosure relates to assessing and responding to wheel slippage and estimating road friction for a road surface. For instance, a vehicle may be controlled in an autonomous driving mode in order to follow a trajectory. A wheel of the vehicle may be determined to be slipping such that the vehicle has limited steering control. In response to determining that the wheel is slipping, steering of one or more wheels may be controlled in order to orient the one or more wheels towards the trajectory in order to allow the vehicle to proceed towards the trajectory when the wheel is no longer slipping. In addition, the road friction may be estimated based on the determination that the wheel is slipping. The vehicle may be controlled in the autonomous driving mode based on the estimated road friction.