Abstract: A processor-implemented method in a vehicle for performing automatic vehicle lateral control using a neural network for trajectory tracking is provided. The method includes receiving a desired vehicle trajectory; constructing, from the desired trajectory, desired waypoint data for a small number of desired waypoints at different look ahead distances in front of the center of gravity of the vehicle; and generating a steering angle command using a feedforward artificial neural network (ANN) as a function of vehicle speed and the desired waypoint data without modeling vehicle or tire dynamics. The vehicle steering actuator system provides steering control to cause vehicle steering to attempt to achieve the steering angle command.

Abstract: A method of identifying a condition of a road surface includes capturing at least a first image of the road surface with a first camera, and a second image of the road surface with a second camera. The first image and the second image are tiled together to form a combined tile image. A feature vector is extracted from the combined tile image using a convolutional neural network, and a condition of the road surface is determined from the feature vector using a classifier.

Abstract: A method for determining wetness on a path of travel. A surface of the path of travel is captured by at least one image capture device. A plurality of wet surface detection techniques is applied to the at least one image. An analysis for each wet surface detection technique is determined in real-time of whether the surface of the path of travel is wet. Each analysis independently determines whether the path of travel is wet. Each analysis by each wet surface detection technique is input to a fusion and decision making module. Each analysis determined by each wet surface detection technique is weighted within the fusion and decision making module by comprehensive analysis of weather information, geology information, and vehicle motions. A wet surface detection signal is provided to a control device. The control device applies the wet surface detection signal to mitigate the wet surface condition.

Abstract: A vehicle includes a plurality of on-vehicle cameras, and a controller executes a method to evaluate a travel surface by capturing images for fields of view of the respective cameras. Corresponding regions of interest for the images are identified, wherein each of the regions of interest is associated with the portion of the field of view of the respective camera that includes the travel surface. Portions of the images are extracted, wherein each extracted portion is associated with the region of interest in the portion of the field of view of the respective camera that includes the travel surface and wherein one extracted portion of the respective image includes the sky. The extracted portions of the images are compiled into a composite image datafile, and an image analysis of the composite image datafile is executed to determine a travel surface state. The travel surface state is communicated to another controller.

Abstract: A device includes a body operatively connected to a plurality of wheels, with the plurality of wheels being positioned relative to a banked surface defining a bank angle (?). A suspension system includes at least one suspension sensor configured to provide suspension displacement data. A controller is in communication with the at least one suspension sensor and has a processor and tangible, non-transitory memory on which is recorded instructions. The controller is configured to obtain the suspension displacement data and determine a roll angle (?) based at least partially on the suspension displacement data. The bank angle (?) is determined based at least partially on the roll angle (?), a yaw rate (r), a longitudinal velocity (Vx) and a plurality of predetermined parameters. Operation of the device is controlled based partly on at least one of the roll angle (?) and the bank angle (?).

Abstract: Methods and systems for determining road surface information in a vehicle. In one embodiment, the method includes: determining at least one condition assessment value based on steering data; determining a feature set to include at least one of self-aligning torque (SAT), slip angle, SAT variance, steering rate, and lateral acceleration based on the condition assessment value; processing steering data obtained during a steering maneuver and associated with the feature set using a pattern classification technique; and determining a surface type based on the processing.

Abstract: Methods and systems for generating haptic feel torque for a steering system for an automotive vehicle are provided. In an exemplary embodiment, a method for generating haptic feel torque for a steering system for an automotive vehicle includes inputting a steering command signal by manipulating a steering wheel mounted to a steering column of the automotive vehicle. In response to the steering command, the method includes changing an orientation of road wheels of the automotive vehicle. Also, the method includes communicating condition data of the road wheels to a controller. Further, the method includes calculating with the controller a turning acceleration of the steering column in response to changing the orientation of the road wheels by modeling a virtual spring and a virtual damper interconnected between the steering column and the road wheels based on the condition data. The method also includes applying the turning acceleration to the steering column.

Abstract: Methods and system are provided for controlling a vehicle. The methods and systems read sensors and estimate pneumatic trail for a tire of the vehicle based on the sensor readings. The methods and systems determine presence or absence of a tire lateral saturation condition based on a comparison of the estimated pneumatic trail for the tire of the vehicle with a pneumatic trail threshold indicative of a tire lateral saturation condition. When the tire lateral saturation condition is present, the methods and systems determine a control value and use the control value as an input to a vehicle control module. The vehicle control module is responsive to the tire lateral saturation condition based on the control value.

Abstract: A method of identifying a snow covered road includes creating a forward image of a road surface. The forward image is analyzed to detect a tire track in the forward image. When a tire track is detected in the forward image, a message indicating a snow covered road surface is signaled. When a tire track is not detected in the forward image, a rearward image, a left side image, and a right side image are created. The rearward image, the left side image, and the right side image are analyzed to detect a tire track in at least one of the rearward image, the right side image, and the left side image. A message indicating a snow covered road surface is signaled when a tire track is detected in one of the rearward image, the left side image, or the right side image.

Abstract: A method of identifying a condition of a road surface includes capturing at least a first image of the road surface with a first camera, and a second image of the road surface with a second camera. The first image and the second image are tiled together to form a combined tile image. A feature vector is extracted from the combined tile image using a convolutional neural network, and a condition of the road surface is determined from the feature vector using a classifier.

Abstract: Methods and systems are provided for an improved system and method for validating vehicle lateral velocity estimation. The provided system and method employ an efficient validation algorithm to detect lateral velocity estimation faults. The method and system are robust to road uncertainties and do not require redundant estimations or measurements. The provided system and method offer a technological solution for real time validation of lateral velocity estimation using already existing vehicle sensors, and are independent of (i) road condition information, (ii) wheel torque information, (iii) tire model information, and (iv) tire wear information.

Abstract: Methods and systems are provided for detecting faults in a sensor and reconstructing an output signal without use of the faulty sensor. In one embodiment, a method includes: receiving, by a processor, sensor data indicating a measured value from a first sensor; receiving, by a processor, sensor data indicating measured values from a plurality of other sensors; computing, by a processor, virtual values based on a vehicle model and the sensor data from the plurality of other sensors; computing, by a processor, a residual difference between the measured value from the first sensor and the virtual values; detecting, by a processor, whether a fault exists in the first sensor based on the residual difference; and when a fault in the sensor is detected, generating, by a processor, a control value based on the virtual values instead of the measured value.

Abstract: Methods and systems for generating haptic feel torque for a steering system for an automotive vehicle are provided. In an exemplary embodiment, a method for generating haptic feel torque for a steering system for an automotive vehicle includes inputting a steering command signal by manipulating a steering wheel mounted to a steering column of the automotive vehicle. In response to the steering command, the method includes changing an orientation of road wheels of the automotive vehicle. Also, the method includes communicating condition data of the road wheels to a controller. Further, the method includes calculating with the controller a turning acceleration of the steering column in response to changing the orientation of the road wheels by modeling a virtual spring and a virtual damper interconnected between the steering column and the road wheels based on the condition data. The method also includes applying the turning acceleration to the steering column.

Abstract: A system and method for determining whether a driver is holding a vehicle steering wheel. The vehicle will include an electric power steering system and may further include autonomous or semi-autonomous driving features, such as Lane Centering Control or Lane Keeping Assist. The system includes a passive detection technique which monitors steering torque and steering angle, determines a resonant frequency of oscillation of the steering system from the measured data, and compares the resonant frequency to a known steering system natural frequency to make a hands-on/off determination. If the passive technique results are below a confidence threshold, then an active technique is employed which provides a steering angle perturbation and measures the frequency response, where the perturbation signal has characteristics which are prescribed based on the results of the passive technique. A steering torque greater than a threshold value is also an indication of the driver holding the steering wheel.

Abstract: A method and system for controlling a vehicle to improve vehicle dynamics are provided. The method includes receiving data from a plurality of sensors which monitor vehicle dynamics by monitoring at least wheel and steering movements associated with a vehicle system used in controlling vehicle dynamics by control outputs from a holistic vehicle control system. Then, estimating states of the vehicle from computations of longitudinal and latitudinal velocities, tire slip ratios, clutch torque, axle torque, brake torque, and slip angles derived from the data sensed by the sensors from the wheel and steering movements. Finally, formulating a model of vehicle dynamics by using estimations of vehicle states with a target function to provide analytical data to enable the model of vehicle dynamics to be optimized and for using the data associated with the model which has been optimized to change control outputs to improve in real-time the vehicle dynamics.

Abstract: Vehicles and steering systems for vehicles are provided. An exemplary steering system is provided for an automotive vehicle that includes road wheels and a rack mechanically coupled to the road wheels and laterally displaceable to change an orientation of the road wheels. The steering system includes a steering wheel mounted on a steering column and rotatable by a driver for inputting a steering command. The steering system also includes a lower column coupled to the rack. In the steering system, lateral displacement of the rack causes a rotational torque on the lower column. The steering system further includes a magneto-rheological coupling interconnected between the steering column and the lower column. The magneto-rheological coupling selectively communicates a desired portion of the rotational torque on the lower column to the steering column to provide haptic feedback to the steering column.

Abstract: A method is provided for autonomously operating a vehicle. The method includes receiving, at a processor, at least vehicle state data and vehicle object environment data; generating, with the processor, an optimal path for the vehicle with a cost function based on the vehicle state data and the vehicle object environment data; identifying, with the processor, at least one critical condition constraint based on at least one of the vehicle or vehicle environment; modifying, with the processor, at least a first portion of the optimal path based on the at least one critical condition constraint to result in a short-range trajectory portion; generating a resulting trajectory with the short-range trajectory portion; and implementing the resulting trajectory on the vehicle.

Abstract: Methods and motor vehicles that assist a driver are provided. In an exemplary embodiment, a method includes identifying one or more potential parking positions for a motor vehicle. Selection of a desired parking position is requested, and a suggested driving path for positioning the motor vehicle in the desired parking position is calculated. The suggested driving path is displayed to the driver on a display screen, and the suggested driving path is re-calculated as the driver drives the motor vehicle with a steering wheel. The display screen is updated with the suggested driving path after the suggested driving path is re-calculated and as the driver drives the motor vehicle with the steering wheel.

Abstract: A combined slip based driver command interpreter for a vehicle is provided which may be communicatively coupled to a steering wheel angle sensor, an acceleration pedal position sensor and a brake pedal position sensor, the combined slip based driver command interpreter including, but not limited to a memory configured to store a non-linear combined lateral slip model and a non-linear combined longitudinal slip model, and a processor, the processor configured to determine a driver's intended vehicle lateral velocity and a driver's intended vehicle yaw rate based upon the angle of the steering wheel, the position of the acceleration pedal, the position of the brake pedal, a longitudinal velocity of the vehicle, the non-linear combined lateral slip model and the non-linear combined longitudinal slip model.

Abstract: Methods and system are provided for controlling a vehicle. The methods and systems read sensors and estimate pneumatic trail for a tire of the vehicle based on the sensor readings. The methods and systems determine presence or absence of a tire lateral saturation condition based on a comparison of the estimated pneumatic trail for the tire of the vehicle with a pneumatic trail threshold indicative of a tire lateral saturation condition. When the tire lateral saturation condition is present, the methods and systems determine a control value and use the control value as an input to a vehicle control module. The vehicle control module is responsive to the tire lateral saturation condition based on the control value.