Abstract: The present invention obtains a controller and a control method capable of achieving appropriate cornering during cruise control of a straddle-type vehicle. In the controller and the control method according to the present invention, during the cruise control, in which acceleration/deceleration of the straddle-type vehicle is automatically controlled without relying on an accelerating/decelerating operation by a driver, an entry of a curved road is detected on the basis of a predicted route of the straddle-type vehicle, and the straddle-type vehicle is decelerated at a time point before the straddle-type vehicle reaches the entry.

Abstract: Systems, apparatus, and methods for steering one or more wheels of a flat-towed vehicle moving in reverse. A system may include a power steering mechanism configured to steer the one or more wheels. The system may further include a connector configured to carry one or more signals from a towing vehicle to the flat-towed vehicle. The system may further include an electronic control unit (ECU) coupled to the power steering mechanism and the connector. The ECU may receive a signal that one or more reverse lights of the towing vehicle are lit or on. The ECU may be configured to actuate the power steering mechanism to steer the one or more wheels to a straight position upon receiving the signal.

Abstract: According to the present invention there is provided an aerial vehicle that is operable to fly, the aerial vehicle having at least a first and second subsystem that are operably connected, wherein the first subsystem comprises a first flight module, first one or more effectors that are selectively operable to generate a first force sufficient to cause the aerial vehicle to fly; and the second subsystem comprises a second flight module, second one or more effectors that are selectively operable to generate a second force sufficient to cause the aerial vehicle to fly; such that the first or second subsystem can be selectively used to fly the aerial vehicle not relying on the one or more effectors of the other subsystem. There is further provided a corresponding method for controlling an aerial vehicle.

Abstract: A lane departure prevention control apparatus for a vehicle includes a traveling-environment recognition unit configured to detect lane lines, a steering-angle detector, a vehicle-behavior detector, a predicted departure determination unit, a lane departure prevention control processor, and a steering override determination unit. The predicted departure determination unit is configured to predict whether the vehicle is to depart from the lane. The lane departure prevention control processor is configured to set a target steering angle and execute a lane departure prevention control. The steering override determination unit is configured to check presence of steering override based on the driver's steering-wheel operation.

Abstract: A system for a vehicle includes a first input device and a second input device that provides a plurality of selectable input options. The plurality of selectable input options comprises a plurality of control input options for controlling a plurality of vehicle functions and an association input option for associating the first input device with at least one vehicle function suggested from among the plurality of vehicle functions. The at least one vehicle function is suggested based on historical use of the control input option that controls the at least one vehicle function and an accessibility score of the control input option.

Abstract: Provided is a vehicle control device configured to: generate a target trajectory of a vehicle; and determine whether change in speed of a target steering angle in a first period is equal to or larger than a first threshold value and whether change in speed of the target steering angle in a second period is equal to or larger than a second threshold value; and change, in a case where the driving mode of the vehicle is a second driving mode, the driving mode of the vehicle to a first driving mode when the change in speed of the target steering angle in the first period is determined to be equal to or larger than the first threshold value or when the change in speed of the target steering angle in the second period is determined to be equal to or larger than the second threshold value.

Abstract: A method is disclosed for determining and displaying an area comprising a plurality of locations that can be reached by a person or vehicle from a departure node or current position while still reaching a destination node or home location given the initial value at the departure node or current position of a parameter that constrains the distance travelable by the person or vehicle. The method may be implemented on a mobile device such as a portable navigation device and/or on a server or computer, or may be provided as a computer program product.

Abstract: A method and system are described for controlled supplemental steering, by actuating a supplemental steering element, of a trailing implement connectable via a hitch to a pulling source, and wherein the trailing implement includes a pair of parallel wheels, a controller, a position sensing system that generates a hitch position history comprising a stored set of recent positions of the hitch point, and a steering angle actuator. The method carried out by the system includes maintaining a history of positions of the hitch, determining a target steering angle for the supplemental steering element, and actuating the steering angle actuator in accordance with the target steering angle. During the maintaining the history of positions of the hitch, the history of positions of the hitch is updated by performing a rotation operation and a translation operation on a set of coordinates of the history corresponding to previous hitch positions.

Abstract: A system for controlling a failure of an environment-friendly vehicle is provided to which a highway driving pilot (HDP) system is applied. The system includes a vehicle control unit (VCU) controller that operates a driving motor, an integrated electric booster (IEB) controller that operates IEB for controlling a brake of the environment-friendly vehicle and generate a request to the VCU controller for regenerative braking, and an HDP controller that calculates a required deceleration of the environment-friendly vehicle based on the situation around the environment-friendly vehicle, determined through cognitive control sensors applied to the environment-friendly vehicle. The HDP controller transmits the required deceleration to the IEB controller. At least one of regenerative braking of the driving motor or braking through the brake is performed based on a type of a fault message output by the IEB controller or a failure in communication between the HDP controller and the IEB controller.

Abstract: A system for calibrating a backup assist system for a trailer attached to a vehicle is provided which includes a hitch sensor continuously measuring a hitch angle between the vehicle and the trailer. A controller is configured to determine an offset of the measured hitch angle. The controller is configured to calculate and store in memory a forward offset if no reverse offset is stored.

Abstract: A failsafe device is provided to perform an operation including at least a part or all of one or more of a mechanical system, a hydraulic system, an electrical system, and a chemical system. The failsafe device includes at least one electronic system and an least one non-electronic system. The at least one electronic system is controlled by at least one computer and/or microprocessor. The at least one non-electronic system includes at least one of the mechanical, hydraulic, electrical, and chemical systems. The failsafe device is configured to operate in two modes, a normal mode and an emergency mode.

Abstract: A method of maintaining stability of a motor vehicle having a first axle, a second axle, and a steering actuator configured to steer the first axle includes determining localization and heading of the vehicle. The method also includes determining a current side-slip angle of the second axle and setting a maximum side-slip angle of the second axle using the friction coefficient at the vehicle and road surface interface. The method additionally includes predicting when the maximum side-slip angle would be exceeded using the localization, heading, and determined current side-slip angle as inputs to a linear computational model. The method also includes updating the model using the prediction of when the maximum side-slip angle would be exceeded to determine impending instability of the vehicle. Furthermore, the method includes correcting for the impending instability using the updated model and the maximum side-slip angle via modifying a steering angle of the first axle.

Abstract: Vehicles, control systems for vehicles, and methods of operating vehicles are disclosed herein. A vehicle includes a frame structure, a front section, a rear articulation section, and a control system. The front section is coupled to the frame structure and to a front plurality of wheels supported for movement on a front axle. The rear articulation section is coupled to the frame structure and to a rear plurality of wheels supported for movement on a rear axle. The rear articulation section is pivotally coupled to the front section via an articulation joint and arranged opposite the front section along a vehicle axis. The control system is coupled to the frame structure and includes a mode selector configured to provide input indicative of a mode selected by an operator in use of the vehicle and a controller communicatively coupled to the mode selector.

Abstract: A steering device includes a steering rod that includes two ball screw parts, the steering rod being configured to steer a steerable wheel by moving linearly, two ball nuts respectively fastened to the two ball screw parts, two motors each configured to generate a drive force, two transmission mechanisms each including a toothed belt, the two transmission mechanisms being configured to transmit the drive force of each one of the two motors to a corresponding one of the ball nuts, two detectors configured to respectively detect rotation angles of the two motors, and a controller configured to control each of the two motors. The controller is configured to detect tooth jumping of the belts using the rotation angles of the two motors that are detected by the two detectors.

Abstract: A control allocation system for a vehicle includes an electric power steering (EPS) system, one or more redundant actuation systems for controlling a plurality of wheels of the vehicle, and one or more controllers in electronic communication with the EPS system and the one or more redundant actuation systems. The one or more controllers execute instructions to determine tracking errors and vehicle dynamics states based on a plurality of local path planning references and receive a fault signal indicating the EPS system is non-functional. In response to receiving the fault signal, the one or more controllers determine a plurality of corrective constraints in real-time. The one or more controllers solve a real-time constrained optimization problem for each sampling interval of the control allocation system to determine a plurality of control actions based on the plurality of corrective constraints and the tracking errors.

Abstract: Operating a vehicle in an automated steering control mode wherein the vehicle includes a controller operatively coupled with an articulated steering system and a front axle steering system. The controller is configured to identify a desired path of curvature of the vehicle and determine a front axle steering angle of the front axle steering system and command the front axle steering system to operate at the front axle steering angle and also determine an articulation steering angle of the articulated steering system and command the articulated steering system to operate at the articulation steering angle. A further form includes operating front and rear ground engaging means at a designated speed, and thereafter operating the articulated steering system and the front axle steering system based on the designated speed being greater than a transport speed threshold, less than a field speed threshold or between the two.

Abstract: An autonomous vehicle system includes a body and a plurality of sensors coupled to the body and configured to generate a plurality of sensor measurements corresponding to the plurality of sensors. The system also includes a control unit configured to: receive inputs from a plurality of sources wherein the plurality sources comprise the plurality of sensors, the inputs comprise the plurality of sensor measurements; determine a confidence level of each input based on other inputs; prioritize, based on the confidence level associated with each input, the inputs; generate, based on the prioritization of the inputs and the confidence level, a combined input with a combined confidence level; and determine, based on the combined input and the combined confidence level, a mission task to be performed.

Abstract: This disclosure provides a route determining device capable of determining a route of a moving device such that the moving device smoothly moves to a destination while avoiding an interference with a traffic participant even in a congested traffic environment. A route determining device 1 determines a provisional movement velocity command v_cnn such that an interference between a robot 2 and traffic participants is avoided using the CNN, determines a distance dist between the robot 2 and the traffic participant closest to the robot 2 when the robot is assumed to move from the current position by a command v_cnn in accordance with the reliability P of the command v_cnn, and determines a movement velocity command v of the robot using a DWA such that a target function G including the distance dist and the movement velocity command v of the robot as independent variables has a maximum value.

Abstract: A vehicle computing system may implement techniques to predict behavior of objects detected by a vehicle operating in the environment. The techniques may include determining a feature with respect to a detected objects (e.g., likelihood that the detected object will impact operation of the vehicle) and/or a location of the vehicle and determining based on the feature a model to use to predict behavior (e.g., estimated states) of proximate objects (e.g., the detected object). The model may be configured to use one or more algorithms, classifiers, and/or computational resources to predict the behavior. Different models may be used to predict behavior of different objects and/or regions in the environment. Each model may receive sensor data as an input, and output predicted behavior for the detected object. Based on the predicted behavior of the object, a vehicle computing system may control operation of the vehicle.

Abstract: 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.