Abstract: The stator assembly of the present application includes a multi-phase winding and a stator core being provided with a stator slot. A branch includes a first coil group, a second coil group and a connecting wire. The first coil group includes N first winding parts and N-1 first variable-layer lines, and the first winding part includes a plurality of coil sets, the coil set includes a first cross-layer unit and a first variable-pitch unit; a span of the first variable-pitch unit is greater than or less than the pole pitch of motor; the first variable-layer line connects two adjacent first winding parts, and a span yl of the first variable-layer line is set as: y?2?yl<y+2; the second variable-layer line connects with two adjacent second winding parts, and a span y2 of the second variable-layer line is set as: y2=y.

Abstract: A method for controlling a semi-autonomous vehicle modifies a current path for the vehicle desired by a driver of the vehicle. The current path starts at a current position of the vehicle and ends in a target position of the vehicle and the method modifies the current path while preserving the current position and the target position of the vehicle in the modified path. The method overrides the actions of the driver to control a movement of the vehicle according to the modified path.

Abstract: A method for controlling a semi-autonomous vehicle modifies a current path for the vehicle desired by a driver of the vehicle. The current path starts at a current position of the vehicle and ends in a target position of the vehicle and the method modifies the current path while preserving the current position and the target position of the vehicle in the modified path. The method overrides the actions of the driver to control a movement of the vehicle according to the modified path.