Provided is a drift car for children, including a car body, a driving system and a control system, the driving system includes a front wheel set, a rear wheel set and a motor set on the car body, the front wheel set includes a left front wheel and a right front wheel, and the rear wheel set includes a left rear wheel and a right rear wheel, the control system includes an on-board controller arranged in the car body, and the motor set includes a left motor and a right motor, in which the left motor is connected to the left front wheel or the left rear wheel, the right motor is connected to the right front wheel or the right rear wheel, and the left and right motors are both connected to the on-board controller; the controller system also includes a drift trigger switch connecting to the on-board controller.

A steering system for an automated driving process of a motor vehicle having at least one steering controller, a power electronics unit, apparatus for adjusting a steering angle, and an electric motor. The steering system includes a steering controller which generates steering control commands dependent on the data of a surroundings sensor system. The steering control commands are converted into actuation signals for the electric motor by the power electronics unit, and the electric motor then actuates the apparatus for adjusting the steering angle. The steering controller generates a current steering control command and at least one future steering control command dependent on the data of the surroundings sensor system and transmits the steering control commands to the power electronics unit.

A driving support Electronic Control Unit (ECU) initializes a target trajectory calculation parameter at a start of Lane Change Assist Control (LCA), calculates, based on the target trajectory calculation parameter, a target trajectory function representing a target lateral position in accordance with an elapsed time from the start of LCA; and calculates a target control amount according to the target trajectory function. When it is determined that the own vehicle has crossed a boundary white line, the driving support ECU again initializes the target trajectory calculation parameter, and calculate the target trajectory function based on the target trajectory calculation parameter.

Provided is a turning function-equipped having a reduced size and having improved strength to an external shock force and improved reliability. The turning function-equipped hub unit includes: a hub unit main body; a unit support member; and a turning actuator. The unit support member is provided to a chassis frame component. The unit support member includes an abutment part with which a part of the hub unit main body is brought into abutment in a vertical direction during non-normal time, the abutment part being separated from the hub unit main body in the vertical direction during normal time, and the non-normal time in which the abutment is caused, is a time when an impact load equal to or greater than a predetermined value acts on the hub unit main body in the vertical direction due to an external force from the wheel.

A vehicle motion control apparatus includes a control unit which controls a steering apparatus and a brake apparatus provided in a vehicle. The control unit acquires a normative motion state amount necessary for the vehicle to trace a target traveling path, acquires a target motion state amount necessary for generating a yaw moment to cancel unstable behavior of the vehicle, and acquires a target steering angle for generating a steering angle moment and a target brake force for generating a brake moment, to obtain a necessary yaw moment generated by the vehicle. The control unit outputs a first control command for obtaining the target steering angle to the steering apparatus and outputs a second control command for obtaining the target brake force to the brake apparatus.

Provided is a drift car for children, including a car body, a driving system and a control system, the driving system includes a front wheel set, a rear wheel set and a motor set on the car body, the front wheel set includes a left front wheel and a right front wheel, and the rear wheel set includes a left rear wheel and a right rear wheel, the control system includes an on-board controller arranged in the car body, and the motor set includes a left motor and a right motor, in which the left motor is connected to the left front wheel or the left rear wheel, the right motor is connected to the right front wheel or the right rear wheel, and the left and right motors are both connected to the on-board controller; the controller system also includes a drift trigger switch connecting to the on-board controller.

A four-wheel independent steering system and a method of controlling the four-wheel independent steering system. The four-wheel independent steering system includes a front/rear-wheel-angle-ratio calculation unit to calculate a ratio Kss between front and rear wheel angles that allows a body slip angle to converge to ‘0’ and allows a yaw angle and a yaw rate to maintain target values, and a control unit to perform four-wheel steering control based on the ratio Kss between the front and rear wheel angles.

An automatic steering control device includes a forward recognition device, a traveling state detector, a lateral positional deviation calculator, a steering angle controller. The lateral positional deviation calculator calculates a first lateral positional deviation that is the lateral positional deviation ahead of the vehicle by a first distance, and a second lateral positional deviation that is the lateral positional deviation ahead of the vehicle by a second distance larger than the first distance. The steering angle controller performs first control on the steering angle so that an absolute value of the first lateral positional deviation decreases, and second control on the steering angle based on the second lateral positional deviation so that a difference between a change amount of the steering angle in the first control and a change amount of an actual steered angle that is a steered angle of wheels of the vehicle decreases.

A yaw stability control system is provided for a motor vehicle. The system includes one or more cameras, a plurality of wheel speed sensors, a yaw angle sensor, and a steering angle sensor. The system further includes an electric motor connected to a reaction wheel. The system further includes a processor and a memory including instructions such that the processor is programmed to: determine a desired yaw angle of the motor vehicle based on a video signal, speed signals, a yaw signal, and a steering signal. The processor is further programmed to generate an actuation signal associated with the desired yaw angle. The electric motor angularly rotates the reaction wheel at a predetermined angular rate in a predetermined rotational direction to produce a counter-acting torque that rotates the motor vehicle to the desired yaw angle, in response to the electric motor receiving the actuation signal from the processor.

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.