Abstract: A trailer backup assist system for motor vehicles includes an auxiliary user input feature that can be used by a vehicle operator to provide a steering curvature command corresponding to a desired vehicle path curvature without requiring a user to move a steering wheel of the motor vehicle. The trailer backup assist system is configured to control a vehicle speed while the vehicle is backing up with a trailer attached thereto utilizing an input comprising at least one of a steering curvature command and an angle of a trailer relative to the vehicle. The trailer backup assist system controls at least one of a brake system, an engine torque, and a transmission gear selection to thereby control vehicle speed in a reverse direction.

Abstract: A system and a method are described. The method includes: receiving sensed input from a vehicle sensor suite; using the input, providing a first output; determining that a vehicle-lane confidence level is less than a threshold; and then instead, providing a second output, wherein the first and second outputs comprise lane-correction data, wherein the second output is determined using an estimation filter.

Abstract: A system includes a processor configured to receive a valet-key request from a valet mobile device. The processor is also configured to request authentication of a key transfer, responsive to the request and transfer, from an owner mobile device to the valet mobile device, vehicle data, describing a vehicle, and key data, usable to access and activate the vehicle, responsive to authentication approval.

Abstract: A trailer backup assist system for motor vehicles includes an auxiliary user input feature that can be used by a vehicle operator to provide a steering curvature command corresponding to a desired vehicle path curvature without requiring a user to move a steering wheel of the motor vehicle. The trailer backup assist system is configured to control a vehicle speed while the vehicle is backing up with a trailer attached thereto utilizing an input comprising at least one of a steering curvature command and an angle of a trailer relative to the vehicle. The trailer backup assist system controls at least one of a brake system, an engine torque, and a transmission gear selection to thereby control vehicle speed in a reverse direction.

Abstract: A trailer backup assist system is provided herein. The system includes a calibration feature for calibrating an imaging device used for hitch angle detection. The system also employs multiple hitch angle detection methods, a number of which may run in parallel to increase the intervals at which a hitch angle can be measured. The system additionally includes a predictive feature in which a hitch angle can be predicted in instances where a trailer sensing device fails. The system is further configured to estimate a trailer length and generate steering commands that are invariant to the estimated trailer length under certain conditions.

Abstract: A current value of a state-of-motion from a second controller can be received by a first controller. The first controller determines a subset of a target value of the state-of-motion to be achieved by a subsystem and transmits a command to a third controller in communication with the subsystem to achieve the subset of the target value of the state-of-motion. The third controller commands the subsystem to approach the subset of the target value of the state-of-motion.

Abstract: Vehicle steering can be synchronized by first, turning the steering rack from lock-to-lock to determine a steering rack midpoint, second, turning the steering wheel from lock-to-lock to determine a steering wheel midpoint, third, synchronizing the steering rack with the steering wheel based on the steering rack midpoint and the steering wheel midpoint, and fourth, piloting a vehicle based on the synchronized steering rack and steering wheel; wherein the steering rack is mechanically decoupled from a steering wheel of the vehicle before turning the steering rack from lock-to-lock and before turning the steering wheel from lock-to-lock.

Abstract: Vehicle steering can be synchronized by first, turning the steering rack from lock-to-lock to determine a steering rack midpoint, second, turning the steering wheel from lock-to-lock to determine a steering wheel midpoint, third, synchronizing the steering rack with the steering wheel based on the steering rack midpoint and the steering wheel midpoint, and fourth, piloting a vehicle based on the synchronized steering rack and steering wheel; wherein the steering rack is mechanically decoupled from a steering wheel of the vehicle before turning the steering rack from lock-to-lock and before turning the steering wheel from lock-to-lock.

Abstract: A system for determining a hitch angle between a vehicle and a trailer is provided herein. An imaging device is configured to capture images of the trailer. A controller is configured to process image data to determine an optical flow. The controller distinguishes between optical flow vectors of pixels associated with the trailer and an operating environment. The controller calculates an average angular velocity for the pixels associated with the trailer and determines the hitch angle based on the average angular velocity.

Abstract: A current value of a state-of-motion from a second controller can be received by a first controller. The first controller determines a subset of a target value of the state-of-motion to be achieved by a subsystem and transmits a command to a third controller in communication with the subsystem to achieve the subset of the target value of the state-of-motion. The third controller commands the subsystem to approach the subset of the target value of the state-of-motion.

Abstract: A vehicle steering system includes a first sensor sensing a pinion angle of a handwheel and a second sensor sensing a torsion bar windup angle. An autonomous steering module generates a steering command having an input torque signal. A steering angle controller is configured to determine a filtered handwheel acceleration based on the pinion angle and the windup angle. The steering angle controller also determines an offset torque based on the filtered handwheel acceleration. Further, the steering angle controller applies the offset torque to the input torque signal to define a refined torque signal that compensates for inertia and off-center mass of the handwheel.

Abstract: A vehicle steering system includes a first sensor sensing a pinion angle of a handwheel and a second sensor sensing a torsion bar windup angle. An autonomous steering module generates a steering command having an input torque signal. A steering angle controller is configured to determine a filtered handwheel acceleration based on the pinion angle and the windup angle. The steering angle controller also determines an offset torque based on the filtered handwheel acceleration. Further, the steering angle controller applies the offset torque to the input torque signal to define a refined torque signal that compensates for inertia and off-center mass of the handwheel.

Abstract: A vehicle system includes communication circuitry programmed to communicate with a controller that is removable from an autonomous vehicle. The system further includes a processor programmed to receive control signals, which are associated with manually controlling the autonomous vehicle in a non-autonomous mode, transmitted from the controller. The processor is further programmed to output commands to at least one vehicle subsystem in accordance with the control signals transmitted from the controller while the vehicle is operating in a non-autonomous mode.

Abstract: A system for determining a hitch angle between a vehicle and a trailer is provided herein. An imaging device is configured to capture images of the trailer. A controller is configured to process image data to determine an optical flow. The controller distinguishes between optical flow vectors of pixels associated with the trailer and an operating environment. The controller calculates an average angular velocity for the pixels associated with the trailer and determines the hitch angle based on the average angular velocity.

Abstract: An autonomous steering system for a vehicle includes a park assist steering module configured to generate a first steering angle command across a communication network of the vehicle. A backup assist steering module is also configured to generate a second steering angle command across the communication network of the vehicle. A steering angle controller is configured to receive the first and second steering angle commands and generate a third steering angle command for controlling a steered wheel of the vehicle based on acceptable steering column torque conditions for the respective steering module.

Abstract: In one embodiment of the disclosed subject matter, a trailer backup assist system includes a sensor that senses a measured hitch angle between a vehicle and a trailer. The system also provides an input module that receives a desired curvature of the trailer. A controller of the system includes a curvature regulator determining a desired hitch angle based on the desired curvature and a steering angle of the vehicle. In addition, the controller of the system includes a hitch angle regulator generating a steering angle command based on the desired hitch angle and the measured hitch angle. In this embodiment, the controller is configured to operate the trailer backup assist system irrespective of the attached trailer having a conventional tongue or a gooseneck tongue.

Abstract: An autonomous steering system for a vehicle includes a park assist steering module configured to generate a first steering angle command across a communication network of the vehicle. A backup assist steering module is also configured to generate a second steering angle command across the communication network of the vehicle. A steering angle controller is configured to receive the first and second steering angle commands and generate a third steering angle command for controlling a steered wheel of the vehicle based on acceptable steering column torque conditions for the respective steering module.

Abstract: A vehicle steering system includes a first sensor sensing a pinion angle of a handwheel and a second sensor sensing a torsion bar windup angle. An autonomous steering module generates a steering command having an input torque signal. A steering angle controller is configured to determine a filtered handwheel acceleration based on the pinion angle and the windup angle. The steering angle controller also determines an offset torque based on the filtered handwheel acceleration. Further, the steering angle controller applies the offset torque to the input torque signal to define a refined torque signal that compensates for inertia and off-center mass of the handwheel.

Abstract: A trailer backup assist system for motor vehicles includes an auxiliary user input feature that can be used by a vehicle operator to provide a steering curvature command corresponding to a desired vehicle path curvature without requiring a user to move a steering wheel of the motor vehicle. The trailer backup assist system is configured to control a vehicle speed while the vehicle is backing up with a trailer attached thereto utilizing an input comprising at least one of a steering curvature command and an angle of a trailer relative to the vehicle. The trailer backup assist system controls at least one of a brake system, an engine torque, and a transmission gear selection to thereby control vehicle speed in a reverse direction.

Abstract: A vehicle having a driving assist system and an electric power assist steering system coupled to the driving assist system. The driving assist system transmits an assist torque request for reception by the electric power assist steering system for enabling the electric power assist steering system to adjust its outputted assist torque to accommodate requirements of the driving assist system. The assist torque request specifies a requested additional assist torque required by the driving assist system from the electric power assist steering system. In response to receiving the assist torque request, the electric power assist steering system performs an operation for determining a column torque offset as a function of both a force being applied by a driver of the vehicle on a steering column of the vehicle and the requested additional assist torque required by the driving assist system.