Abstract: A number of illustrative variations may include a system including brake-to-steer algorithms may achieve lateral control of a vehicle without longitudinal compensation but may also force a vehicle to slow down too rapidly before appropriate lateral movement can be achieved and may deliver an unnatural driving experience for vehicle occupants. A more natural feeling deceleration may be achieved by optimally selecting appropriate transmission shifts to allow for optimal engine speed or electric motor speed and torque based on current vehicle speed thereby reducing undesirably longitudinal disturbance.

Abstract: A number of illustrative variations may include a system including brake-to-steer algorithms may achieve lateral control of a vehicle without longitudinal compensation but may also force a vehicle to slow down too rapidly before appropriate lateral movement can be achieved and may deliver an unnatural driving experience for vehicle occupants. A more natural feeling deceleration may be achieved by optimally selecting appropriate transmission shifts to allow for optimal engine speed or electric motor speed and torque based on current vehicle speed thereby reducing undesirably longitudinal disturbance.

Abstract: A system and method of hands-off signature detection may include applying a unique sinusoidal motor command to an EPS or handwheel actuator of a vehicle and monitoring attenuation of the unique sinusoidal motor command to determine if a user's hands are on or off of a handwheel of a vehicle. Attenuation of the unique sinusoidal motor command may occur due to the physical presence of a driver's hand(s) on the steering wheel.

Abstract: A number of variations disclose a system for implementing emergency stop functionality to bring a vehicle to a controlled stop when a vehicle's brake system, propulsion system, steering system, or motion control system are operating in a degraded state or are disabled or are unavailable. The system may account for external factors such as operating environment states including road surface mu, surrounding objects or other vehicles, or the like. Emergency stop functionality may be implemented when autonomous path trajectory or path planning is unavailable.

Abstract: A number of illustrative variations may include a system and method of controlling vehicle slowing while implementing brake-to-steer functionality that may include providing a feed-forward gain on vehicle propulsion torque to achieve or maintain target longitudinal acceleration and replicate the behavior of a vehicle not using brake-to-steer. The system may manipulate propulsion of the vehicle to manage longitudinal acceleration disturbance and speed disturbance during brake-to-steer.

Abstract: A number of illustrative variations may include a method of communication between a driver and an autonomous steering system.

Abstract: A number of variations are discloses including a system and method including using differential braking to increase evasive lateral maneuver capability.

Abstract: A number of variations are discloses including a system and method including using differential braking to reduce steering effort during loss of assist.

Abstract: A number of illustrative variations may include a system and method of controlling vehicle slowing while implementing brake-to-steer functionality that may include providing a feed-forward gain on vehicle propulsion torque to achieve or maintain target longitudinal acceleration and replicate the behavior of a vehicle not using brake-to-steer. The system may manipulate propulsion of the vehicle to manage longitudinal acceleration disturbance and speed disturbance during brake-to-steer.

Abstract: A number of illustrative variations may include a system including brake-to-steer algorithms may achieve lateral control of a vehicle without longitudinal compensation but may also force a vehicle to slow down too rapidly before appropriate lateral movement can be achieved and may deliver an unnatural driving experience for vehicle occupants. A more natural feeling deceleration may be achieved by optimally selecting appropriate transmission shifts to allow for optimal engine speed or electric motor speed and torque based on current vehicle speed thereby reducing undesirably longitudinal disturbance.

Abstract: A number of illustrative variations may include a system that may manage torque overlay scenarios in a vehicle where the brakes and propulsion system are providing both lateral and longitudinal movement commands and there is a change in longitudinal acceleration requested from a driver or autonomous driving system. The system may manage driver brake inputs and brake-to-steer brake inputs to maintain brake-to-steer functionality while also applying sufficient braking as requested by the driver.

Abstract: A number of variations may include a method including pre-charging at least a portion of a vehicle brake system.

Abstract: A number of illustrative variations may include a system and method of using vehicle brakes to steer a vehicle where steer-by-wire steering systems have failed. The system may include supplying varying brake pressure, as needed, to different vehicle wheels to steer the vehicle. The system may include supplying engine system commands to maintain vehicle speed or acceleration such that in the event of steering system failure, a vehicle may continue to operate safely without effecting driver input.

Abstract: A number of illustrative variations may include a system and method of modifying steering wheel effort and end of travel limits dynamically during electronic power steering failure, steer-by-wire failure, or brake-to-steer implementation within a vehicle where steering systems have degraded or failed to provide a driver with a normal or near-normal steering driving experience while brake-to-steer systems are in use.

Abstract: In a number of illustrative variations, a method may include providing a first motion control algorithm and a second motion control algorithm, the first motion control algorithm and a second motion control algorithm being constructed and arranged to provide motion control requests. The method may further include determining if the first motion control algorithms motion control requests are within a plausible range and performing a switchover from the first motion control algorithm to the second motion control algorithm if necessary.

Abstract: In a number of illustrative variations, a method may include providing an autonomous steering system that may include a steering interface. The method may include determining at least one trajectory; providing driving steering input on the steering interface; providing haptic feedback in the form of effort augmentation in the steering interface indicating the autonomous steering systems intent to remain on the at least one trajectory; and increasing or decreasing haptic feedback in intensity as a function of the magnitude of diversion from the at least one trajectory.

Abstract: A robotic manipulator includes an arm including at least one joint driven by a transmission comprising an output, an isolation mechanism coupled to the output of the transmission, and a force/torque sensor coupled to the isolation mechanism. The force/torque sensor includes a body, which includes a stationary part and a movable part coupled to and being movable relative to the stationary part. The force/torque sensor also includes one or more sensing elements configured to sense forces and torques applied to the movable part. The isolation mechanism is configured to deform in response to forces induced by the transmission to mechanically isolate the force/torque sensor from forces induced by the transmission.

Abstract: A number of illustrative variations may include a method for use in a vehicle having an electronic steering system, a position control module, an electronic steering system rack force observer, and a rack force observer vehicle diagnostic, wherein the method includes the steps of providing a vehicle that may include an electronic steering system, a position control module, an electronic steering system rack force observer, and a rack force observer vehicle diagnostic; measuring the steering angle and steering velocity of the vehicle; communicating a steering angle of the vehicle to the position control module and the electronic steering system rack force observer; communicating a steering velocity of the vehicle to the electronic steering system rack force observer; communicating electronic steering system motor commands to the electronic steering system rack force observer; and estimating rack force data and communicating the rack force data to the rack force observer vehicle diagnostic; and determining a co

Abstract: In a number of illustrative variations, a method may include the steps of providing a vehicle that may include at least one sensor; providing at least one signage constructed and arranged to convey a known geolocation of the at least one signage to the at least one sensor; determining a detected geolocation of the vehicle via the at least one sensor; reading the known geolocation of the at least one signage; comparing the detected geolocation to the known geolocation; and identifying discrepancies between the detected geolocation and the known geolocation.

Abstract: A number of illustrative variations may include the steps of providing a first vehicle including at least one sensor, a controller configured to process sensor data, and a vehicle communication system; providing a driving surface having an actual coefficient of friction; determining at least one estimated driving surface coefficient of friction; communicating the at least one estimated driving surface coefficient from the first vehicle to the vehicle communication system; and communicating the at least one estimated driving surface coefficient from the vehicle communication system to at least one other vehicle directly or indirectly.