Abstract: The present disclosure relates to a steering control system for a vehicle, a vehicle comprising such a steering control system and a method for operating such a steering control system for a vehicle. The steering control system comprises a frequency filter unit, a first control unit, and a second control unit. The frequency filter unit comprises a high pass filter and a low pass filter. The frequency filter unit is configured to receive a request for a steering angle and filter the request into a low-pass filtered request and a high-pass filtered request. The first control unit is configured to determine a first controlling torque based on the low-pass filtered request the second control unit is configured to determine a second controlling torque based on the high-pass filtered request. The first control unit is different of the second control unit.

Abstract: Systems and methods are provided for generating data indicative of a friction associated with a driving surface, and for using the friction data in association with one or more vehicles. In one example, a computing system can detect a stop associated with a vehicle and initiate a steering action of the vehicle during the stop. The steering action is associated with movement of at least one tire of the vehicle relative to a driving surface. The computing system can obtain operational data associated with the steering action during the stop of the vehicle. The computing system can determine a friction associated with the driving surface based at least in part on the operational data associated with the steering action. The computing system can generate data indicative of the friction associated with the driving surface.

Abstract: Systems and methods are provided for generating data indicative of a friction associated with a driving surface, and for using friction data as part of controlling autonomous vehicle operations. In one example, a computing system can detect an event including at least one of an acceleration, a deceleration, or a stop associated with an autonomous vehicle and obtain, in response to detecting the event, operational data associated with the autonomous vehicle during the event. The computing system can determine, based at least in part on the operational data, data indicative of a friction associated with a surface upon which the autonomous vehicle is traveling during the event. The computing system can control the autonomous vehicle based at least in part on the data indicative of the friction associated with the surface.

Abstract: The present invention relates to a method for collision avoidance for a host vehicle, the method comprising: detecting a target in the vicinity of the vehicle; determining that the host vehicle is travelling on a collision course with the target; detecting a user initiated steering action for steering the vehicle towards one side of the target; determining a degree of understeering of the host vehicle; when the degree of understeering exceeds a first understeering threshold, controlling a steering control system of the vehicle to counteract the user initiated steering action to thereby reduce the degree of understeering. The invention further relates to an evasive steering system.

Abstract: A system for estimating an articulation angle of a vehicle combination comprises a motion sensor for sensing one or more linear and/or angular motion quantities of the vehicle combination and a dynamics-based estimator configured to estimate state variables, including the articulation angle on the basis of the sensed motion quantities, wherein the dynamics-based estimator is dependent on one or more masses and moments of inertia of the vehicle combination.

Abstract: The present invention relates to a control unit for determining a value indicative of a load bearing capability of a ground segment supporting a vehicle. The control unit is configured to issue a control signal to the vehicle to thereby impart a motion change of the vehicle, and receive response information from the vehicle indicative of the vehicle's response to the imparted motion change. The control unit is further configured to, based on the response information, determine a vertical position change of at least one wheel of the vehicle, and based on the determined vertical position change and the imparted motion change, determine the value indicative of the load bearing capability of the ground segment.

Abstract: The invention relates to a method for determining a parameter indicative of a road capability of a road segment (16) supporting a vehicle (10). The vehicle (10) comprises a sensor (18) adapted to generate an information package on the basis of signals (20, 22) reflected from the surface of a portion of the road segment (16) in front of the vehicle (10), as seen in an intended direction of travel of the vehicle (10). The vehicle (10) further comprises a plurality of ground engaging members (12, 14).

Abstract: A method of determining an allowable vehicle state space of an articulated vehicle (1) for safely completing a maneuver, wherein the vehicle state space comprises vehicle velocity, the method comprising; monitoring a drivable area (31) ahead of the articulated vehicle (1), predicting a potentially swept area (33) ahead of the articulated vehicle (1), wherein the potentially swept area (33) represents an area that may be traversed by the articulated vehicle (1) during the maneuver with a probability, based on an initial vehicle state of the articulated vehicle (1), a geometry of the articulated vehicle (1), and on error characteristics associated with one or more sensor input signals used for positioning the articulated vehicle (1), and determining the allowable vehicle state space such that the predicted potentially swept area (33) does not extend beyond the drivable area (31) ahead of the vehicle (1).

Abstract: The invention relates to a method for determining a parameter indicative of a road capability of a road segment (18) supporting a vehicle (10). The vehicle (10) comprises a plurality of ground engaging members (12, 14, 16, 38, 40, 42).

Abstract: The present invention relates to a method for assisting a driver of a host vehicle in the event of a road departure. Collecting a set of drive parameter values, wherein each drive parameter is indicative of a present driving condition parameter for the vehicle. Calculating a collective road departure value based on the set of drive parameter values. When the road departure value exceeds a road departure threshold value, adapt at least one of the speed of the vehicle or the steering torque applied by the steering control system to the steerable wheels of the vehicle, until the road departure value is below the road departure threshold value.

Abstract: A method for providing an intervening action for a host vehicle. A target is detected in the vicinity of the vehicle it is determined that the host vehicle is travelling on a collision course with the target. When a collision with the target is predicted to occur within a predetermined time period and no driver initiated steering action for avoiding the collision course has been detected, controlling a steering control system to provide an initial steering torque action to the steerable wheels of the host vehicle for providing an initial steering action towards the same side of the target as a detected safe side. A driver initiated steering action is in response to the initial steering torque action is detected. Next, the intervening action is provided for altering the present driving course of the host vehicle for avoiding a collision with the target.

Abstract: A method for estimating a tire property of a vehicle based on tire-to-road friction properties for a fleet of vehicles. The method includes: determining a tire-to-road friction for a plurality of vehicles, belonging to the fleet of vehicles, at a plurality of specified locations; determining a reference tire-to-road friction for the fleet of vehicles at each specified location; in a vehicle, determining a current tire-to-road friction at a first location being one of the specified locations; determining a difference between the current tire-to-road friction and the reference tire-to-road friction of the fleet for the first location; and estimating a tire property of the vehicle based on the determined difference. There is also provided a system configured to perform the described method.

Abstract: A method for assisting a driver of a host vehicle in avoiding a collision, the method including: detecting a target in the vicinity of the vehicle; determining that the host vehicle is travelling on a collision course with the target; detecting a set of road markers on a side of the target; detecting a free space on the side of the road markers opposite the target side of the road markers, and when a collision with the target is predicted to occur within a predetermined time period and no driver initiated steering action for avoiding the collision course has been detected, providing a steering guidance to the driver of the host vehicle including altering of a steering wheel angular orientation for momentarily steering the host vehicle towards the road markers to indicate an evasive steering action to the driver.

Abstract: Methods and systems for generating and utilizing a road friction estimate (RFE) indicating the expected friction level between a road surface and the tires of a vehicle based on forward looking camera image signal processing. A forward-looking camera image is pre-processed, patch segmented (both laterally and longitudinally, as defined by wheel tracks or the like), transformed into a bird's eye view (BEV) image using perspective transformation, patch quantized, and finally classified. The resulting RFE may be used to provide driver information, automatically control the associated vehicle's motion, and/or inform a cloud-based alert service to enhance driver safety.

Abstract: The disclosure relates to a method to control torque distribution among a plurality of electric machines connected to at least one front wheel and at least one rear wheel of a vehicle during operation, comprising: acquiring the total torque requested; obtaining the most energy efficient torque distribution mode by using a loss model or loss map; evaluating the actual driving situation; determining if a mode switch is allowed depending on the actual driving situation; switching the torque distribution mode, if allowed; and preventing a mode switch, if not allowed.

Abstract: The present disclosure relates to a method for computing a friction estimate between a road surface and a tire of a vehicle. The method comprises applying a controllable torque to at least one of wheel of the vehicle and determining a vehicle velocity when the controllable torque is applied. Estimate a present tire force acting on the first tire when the torque is applied. Based on a vehicle velocity, estimate the present slip of the tire. Determining a present gradient of the tire force with respect to the slip based on the present tire force and the value indicative of the present slip. When the present gradient exceeds a predetermined first gradient threshold value and is below predetermined second gradient threshold value, compute the friction estimate.

Abstract: A method performed by a vehicle system for handling conditions of a road on which a vehicle travels. The vehicle system detect that a first part of the road has a first condition which is different from a second condition of a second part of the road. The vehicle system estimates friction of the first part and evaluates the estimated friction. The vehicle system determines that the vehicle's motion should be adjusted when a result of the evaluation indicates that the estimated friction of the first part of the road affects the vehicle's expected motion, and initiates adjustment of the vehicle's motion on the road as determined.

Abstract: Method for controlling a vehicle, comprising: identifying an upcoming curve and determining its properties; determining current vehicle speed, vv, estimating friction, ?e, between a tire of the vehicle and the road; estimating maximum allowable vehicle speed, vmax_e, when entering the curve based on the properties, speed and friction; if the current vehicle speed is higher than the estimated maximum allowable vehicle speed, determining that a friction measurement is required; if distance, dv, between the vehicle and a curve entrance is higher than a predetermined threshold distance, dT, and if a braking action is detected, performing a friction measurement during the braking action to determine current friction, ?c; if a distance between the vehicle and the curve entrance is lower than the predetermined threshold distance, performing a friction measurement to determine a current friction; and determining a maximum allowable vehicle speed vmax_d based on the curve radius, speed and friction.

Abstract: Techniques are described for dynamically selecting vehicles to perform road friction probing maneuvers and estimating road friction based on sensor data collected while a vehicle performs the road friction probing maneuvers. In one example, a computing system is configured to select, from a plurality of vehicles, based on an amount of elapsed time since each respective vehicle of the plurality of vehicles has performed a road friction probing maneuver, a vehicle to perform the road friction probing maneuver within a road segment of a roadway, and responsive to selecting the vehicle, output, to the vehicle, a command causing the vehicle to perform the road friction probing maneuver within the road segment.

Abstract: A method and a system for controlling wheel torques of a vehicle (201) to provide a desired vehicle yaw torque during a cornering event. A set of indirect yaw torque parameters (a,k) indicative of the indirect vehicle yaw torque contribution from lateral wheel forces are determined based on the present wheel torque data (PtTq) and the lateral acceleration data (LatAcc) and a model. A required torque for the front axis wheels (202, 204) and a required torque for the rear axis wheels (206, 208) are calculated such that the desired longitudinal wheel torque and the target vehicle yaw (MzReq) provided, taking into account the set of indirect yaw torque parameters. The calculated torques are applied to the respective individual wheels.