Abstract: Systems and methods for controlling a vehicle are provided. The systems and methods provide a vehicle dynamics model that relates at least one input vehicle dynamics variable to at least one output vehicle dynamics variable. The systems and methods detect a crosswind impacting the vehicle by detecting a disturbance associated with the vehicle dynamics model caused by the crosswind and adapt control of the vehicle based on the detecting the crosswind impacting the vehicle.

Abstract: Methods and systems are provided for controlling a vehicle comprising an Electric Power Steering System (EPS). In an embodiment, a method includes learning, by a processor, a non-linearity of a boost factor associated with the EPS; determining, by the processor, a deboost factor based on an inverse relationship of the learned non-linearity of the boost factor associated with the EPS; and generating, by the processor, a steering command to the EPS based on the deboost factor.

Abstract: Systems and methods are provided for managing transitions between operational modes of a vehicle. The system includes a controller configured to, by a processor: automatically transition between vehicular operational modes without initiation by the driver including a hands-off autonomous driving mode in which the processor controls lateral steering of the vehicle, a hands-on driving assistance mode in which the processor controls the lateral steering of the vehicle while the driver is holding the steering wheel, and a no control mode in which the driver controls the lateral steering of the vehicle. The transition between the operational modes is based on sensed data. The hands-off autonomous driving mode is prioritized over the hands-on driving assistance mode which is prioritized over the no control mode. The controller is further configured to display on a human-machine-interface a notification indicating that at least one of the operational modes is active or not available.

Abstract: Methods and systems of controlling a vehicle. The methods and systems include switching to a second processor executed mode in response to determining that a range of perception information extends to a range end point that is closer to the vehicle than a first Look Ahead (LA) point. In the second processor executed mode: a motion planner requests a lateral controller to provide a closer LA point relative to the vehicle. The lateral controller determines the closer LA point and sends the closer LA point to the motion planner. The lateral controller generates control commands for an EPS system based on an error between a desired trajectory and an actual trajectory at the closer LA point. The motion planner generates the desired trajectory based on perception data and the closer LA point.

Abstract: In accordance with an exemplary embodiment, methods and systems are provided for controlling steering of an autonomous vehicle. The method includes: operating, by a processor, the autonomous vehicle in a path-based automated driving assist mode; receiving, by the processor, driver input including a driver torque; classifying, by the processor, an operation mode based on a type of the path-based automated driving assist mode; determining, by the processor, an override threshold for overriding the path-based automated driving assist mode on a first lateral side of the autonomous vehicle based on the operation mode; determining, by the processor, a driver override status based on the override torque threshold; and generating, by the processor, control signals to control the steering of the autonomous vehicle based on the driver override status and the driver torque.

Abstract: Methods and systems are provided for determining and mitigating vehicle pull force from passing other vehicles.

Abstract: Methods and systems are provided for improving a Driver Monitoring System (DMS) of a vehicle. The system includes a controller in operable communication with the DMS of the vehicle. The controller is configured to, by a processor: receive a signal from the DMS that a camera of the DMS is unable to monitor a driver of the vehicle, determine a cause of the camera being unable to monitor the driver, and adjust an escalation algorithm of the DMS based on the determined cause of the camera being unable to monitor the driver. The escalation algorithm is configured to perform actions based on activity of the driver.

Abstract: A system and method are provided for controlling a vehicle. In one embodiment, a system includes: a sensor system configured to generate sensor data sensed from an environment of the vehicle; and a control module configured to, by a processor, based on the sensor data, identify a gap in a lane line on a roadway in front of the vehicle, determine at least two points within the gap, determine a curve between the at least two points, compute a correlation measure based on the curve, generate lane stitching data based on data based on the curve and an evaluation of the correlation measure, and controlling one or more components of the vehicle based on the stitching data.

Abstract: An autonomous vehicle and a system and method for operating the autonomous vehicle. The system includes a sensor and a processor. A disturbance force or yaw moment is received on the autonomous vehicle. The sensor measures a position of the autonomous vehicle within a lane of a road with respect to road boundaries and lane markings. The processor is configured to resist an effect of a disturbance force or yaw moment received on the autonomous vehicle. The processor minimizes a tracking error between a path of the autonomous vehicle and an initial track lane, wherein resisting the effect creates an inflection point in the path of the autonomous vehicle, establishes a final track lane at a closer of a lateral position of the inflection point and a lane center to the initial track lane, and tracks the path to the final track lane.

Abstract: A system includes a computing device. The computing device includes a processor and a memory, the memory including instructions such that the processor is configured to: transform vehicle dynamics data to corresponding roadway geometry data, calculate a rationalization value based on a difference between the roadway geometry data and map-based roadway geometry data, and determine whether to modify a vehicle state based on the rationalization value.

Abstract: A method for determining a lane centerline includes detecting a remote vehicle ahead of a host vehicle includes determining a trajectory of the remote vehicle that is ahead of the host vehicle, extracting features of the trajectory of the remote vehicle that is ahead of the host vehicle to generate a trajectory feature vector, and classifying the trajectory of the remote vehicle that is ahead of the host vehicle using the trajectory feature vector to determine whether the trajectory of the remote vehicle includes a lane change. The method further includes determining a centerline of the current lane using the trajectory of the remote vehicle that does not include the lane change and commanding the host vehicle to move autonomously along the centerline of the current lane to maintain the host vehicle in the current lane.

Abstract: A driver assistance system in a host vehicle is provided. The driver assistance system is configured to: track a plurality of obstacles in front of the host vehicle; receive host vehicle driver selection of a follow operating mode for the driver assistance system via a human machine interface (HMI); identify a candidate lead vehicle from the plurality of tracked obstacles; provide, via the HMI, a line of sight view in front of the host vehicle that includes the candidate lead vehicle; receive host vehicle driver selection of the candidate lead vehicle as a lead vehicle to follow; adjust a desired trajectory calculated by the driver assistance system to obtain and maintain a desired headway between the lead vehicle and the host vehicle; and generate control signals for vehicle actuators to control the host vehicle to follow the desired trajectory to follow the lead vehicle.

Abstract: Methods, systems and a vehicle control system for a vehicle is provided. The vehicle control system includes an Electric Power Steering System (EPS), and a sensor system including a vehicle dynamics sensor configured to provide vehicle dynamics data and a temperature sensor configured to provide measured outside temperature. A processor is in operable communication with the EPS and the sensor system. The processor is configured to execute program instructions. The program instructions are configured to cause the processor to: execute an automated lateral control algorithm based on the vehicle dynamics data to generate a steering command, adapt the automated lateral control algorithm based on the measured outside temperature so that the steering command compensates for changing lateral response of the vehicle as a result of changing environmental temperature; and provide the steering command to the EPS, wherein the EPS is configured to laterally control the vehicle based on the steering command.

Abstract: Automated driver assistance systems and methods for towing predict vehicle/trailer instabilities and adapt automated driving control to avoid them. A tow-vehicle includes a controller that, through an actuator system, controls speed and/or steering. A map system and/or a sensor system monitor a roadway on which the vehicle is travelling to identify a road profile located ahead of the vehicle over a prediction horizon. A projected trajectory for navigating the vehicle through the road profile over the prediction horizon and considering environmental conditions is determined. Before travel over the road profile, whether the projected trajectory through the road profile will result in exceeding a vehicle dynamic threshold is determined. When the projected trajectory will result in exceeding the vehicle dynamic threshold through the road profile, a control action is determined to prevent instability and optimize driver experience. The vehicle is operated through the road profile using the control action.

Abstract: Vehicles and related systems and methods are provided for controlling a vehicle in an autonomous operating mode. One method involves a controller associated with a vehicle identifying a visual attention state associated with a driver of the vehicle based at least in part on output of an imaging device onboard the vehicle, determining, based at least in part on the visual attention state, a driver lane preference corresponding to an adjacent lane in a visual attention direction relative to a current lane of travel for the vehicle, adjusting a priority associated with the adjacent lane corresponding to the driver lane preference and autonomously operating one or more actuators onboard the vehicle to initiate maneuvering the vehicle from the current lane in a manner that is influenced by the adjusted priority associated with the adjacent lane.

Abstract: A method for generating a steering command for controlling a vehicle is provided.

Abstract: An operator offset request for automatic lane following system of an automobile vehicle includes an operator offset request defining a lateral offset distance away from a first travel-line of an automobile vehicle in a displacement path moved until a second travel-line of the automobile is achieved. An operator input setting system when actuated generates an initiation signal forwarded to a controller to input the operator offset request. An achievement signal is generated to signify a selected offset position selected by a vehicle operator for the offset distance is achieved. A vehicle return travel path is elected by the vehicle operator to return the automobile vehicle to the first travel-line from the second travel-line by a return displacement path which is opposite to the displacement path.

Abstract: Methods, systems and a vehicle control system for a vehicle is provided. The vehicle control system includes an Electric Power Steering System (EPS), and a sensor system including a vehicle dynamics sensor configured to provide vehicle dynamics data and a temperature sensor configured to provide measured outside temperature. A processor is in operable communication with the EPS and the sensor system. The processor is configured to execute program instructions.

Abstract: Systems and methods for controlling a vehicle are provided. The systems and methods provide a vehicle dynamics model that relates at least one input vehicle dynamics variable to at least one output vehicle dynamics variable. The systems and methods detect a crosswind impacting the vehicle by detecting a disturbance associated with the vehicle dynamics model caused by the crosswind and adapt control of the vehicle based on the detecting the crosswind impacting the vehicle.

Abstract: In various embodiments, methods, systems, and vehicle apparatuses are provided. A method for adaptive control of electronic power steering (EPS) including sending, a torque control to an EPS that is based on input control signals from a vehicle trajectory control unit and a steering assistive control unit when the vehicle is coupled to a trailer engaging in a trailering action; configuring the steering assistive control unit, to generate a control signal based on an algorithm using an adaptive factor that models steering dynamics impacted by the trailer while engaging in the trailering action and modeling by the steering assistive control unit, an adaptive damping factor modeled on a tongue weight of a trailer coupled to a hitch of the vehicle wherein the hitch reduces a force applied to a vehicle front axle.