Abstract: A forward collision-avoidance assist (FCA) system and method that prevents a too sensitive operation of anti-collision control such as unnecessary braking or an avoidance control due to sensing of an oncoming vehicle even when a risk of collision is lowered by temporary lane crossing performed based on a surrounding situation. The FCA system includes: a sensor unit to sense a situation in front of a subject vehicle; a collision avoidance logic adjuster configured to adjust a target selection condition for selecting an oncoming vehicle having a risk of collision based on forward situation data; a collision avoidance determiner configured to select the oncoming vehicle by applying the adjusted target selection condition and determine a collision risk value; and a collision avoidance controller configured to automatically control braking or steering of the subject vehicle when the collision risk value is greater than or equal to a preset value.

Abstract: The techniques and systems herein enable ESA modification based on manual steering inputs. Specifically, a score is determined for a manual steering input to a host vehicle while an ESA is actively applying an ESA steering input to the host vehicle. The score quantifies an amount of additional steering input relative to the ESA steering input (e.g. additional steering angle, steering wheel torque). The ESA steering input is maintained, modified, or canceled based on the score. By doing so, the system is able to effectively adapt the ESA to the manual steering inputs thereby allowing for effective collision mitigation while ensuring that the vehicles operate as intended by the drivers.

Abstract: When it is determined that there is no possibility of a driver performing a predetermined steering operation for moving a host vehicle in a lateral direction without involving a change in a final travel direction, a vehicle control device sets a steering reaction force to be greater than a standard reaction force. When it is determined that there is a possibility thereof, the vehicle control device sets the steering reaction force to be smaller than the standard reaction force, and sets an increase rate of the steering reaction force relative to an increase in the amount of steering operation from a predetermined point in time after it is determined that there is a possibility of the driver performing the predetermined steering operation and before the amount of steering operation in the predetermined steering operation becomes largest to be higher than an increase rate before the predetermined point in time.

Abstract: Technical solutions described herein include a method of controlling an electric power steering system includes determining that one or more hand wheel torque sensors of electric power steering system are not operational and in response generating an assist torque command by estimating a front slip angle based on a motor angle of a motor of the electric power steering system and a vehicle speed. The method also includes converting the front slip angle to a rack force. The method also includes determining an amount of assist torque based on the rack force and controlling the electric power steering system using the generated assist torque command.

Abstract: A vehicle driving support device sets a steering force of a reference value as an intervention steering force to set a target steering force and executes lane deviation suppression control, when a straight lane deviation condition or a curve inner lane deviation condition is satisfied while a pre-intervention in-phase condition is not satisfied. The pre-intervention in-phase condition is a condition that a steering operation force that is equal to or larger than a predetermined value and that is applied in a direction of returning an own vehicle that has deviated from a lane to the lane is being input to the own vehicle by a driver of the own vehicle.

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: A method limits a control variable for a motor of an electric power steering system for a motor vehicle having automated lateral control. The method receives a setpoint steering angle, determines the control variable in accordance with the setpoint steering angle, receives an actual steering angle, determines a virtual torsion-bar torque in accordance with the setpoint steering angle and the actual steering angle, determines at least one limit value for the control variable in accordance with the virtual torsion-bar torque, and limits the control variable in accordance with the at least one limit value.

Abstract: This document discloses system, method, and computer program product embodiments for operating a vehicle. For example, the method includes: obtaining a vehicle trajectory and a location of an object in an environment; generating a margin comprising a first vehicle trajectory indicating a series of locations of the vehicle while contacting the object, a boundary of a drivable area or lane mark during a time interval in which the vehicle will travel past the object; generating a reachable boundary using a condition of the vehicle, a longitudinal speed profile and steering limits of the vehicle; comparing the reachable boundary and the margin; and concluding that the vehicle should steer while stopped when the reachable boundary is at any point within a threshold distance from the margin or that the vehicle should not steer while stopped when the reachable boundary is at no point within the threshold distance from the margin.

Abstract: A steering control method for a redundant steering system. The method includes: receiving, by a first steering controller and a second steering controller, a first command signal and a second command signal, respectively; and synchronizing control outputs of the first steering controller and the second steering controller in a way that at least one of the first steering controller and the second steering controller compensates a control timing according to the first command signal and the second command signal so that the control outputs are synchronized.

Abstract: An apparatus for compensating for a stick-slip of a Motor Driven Power Steering (MDPS) system may include: a column torque detection unit to detect column torque applied to a steering shaft as a driver operates a steering wheel; a vehicle speed sensor to detect vehicle speed; a steering angular velocity detection unit to detect a steering angular velocity of a steering wheel; a condition determination unit to determine whether at least one of the column torque, the vehicle speed and the steering angular velocity satisfies a preset compensation condition; a stick-slip compensation controller to output a compensation current for compensating the stick-slip using at least one of the steering angular velocity, the column torque and the vehicle speed; and a compensation unit to compensate for an output of an MDPS controller by applying the compensation current to the output of the MDPS controller.

Abstract: A road information processing system including: a lane departure prevention information acquisition unit for acquiring lane departure prevention information indicating a time point at which a lane departure prevention process by a lane departure prevention function was executed, and a point where the lane departure prevention process was executed, on a vehicle having the lane departure prevention function; a vehicle behavioral information acquisition unit for acquiring vehicle behavioral information indicating a behavior of the vehicle; and an obstacle recognition unit for recognizing, based on the lane departure prevention information and the vehicle behavioral information, an obstacle present at the point where the lane departure prevention process was executed.

Abstract: A trailer hitch detection system may include a sensor mounted in or over an opening defined through a wall of a trailer hitch receiver mounted to a motor vehicle, the sensor configured to be responsive to receipt of a trailer hitch assembly in the trailer hitch receiver to exhibit at least a first sensor characteristic, and to absence of the trailer hitch assembly in the trailer hitch receiver to exhibit at least a second sensor characteristic discernably different from the first sensor characteristic, and signal processing circuitry operatively coupled to the sensor and configured to produce at least one trailer hitch detection signal indicating receipt of the trailer assembly in the trailer hitch receiver in response to the first sensor characteristic and indicating absence of the trailer hitch assembly in the trailer hitch receiver in response to the second sensor characteristic.

Abstract: This steering control device is provided with a microcomputer. The microcomputer includes: a basic assist component calculation unit for calculating a basic assist component; an angle command value calculation unit for calculating an angle command value; an angle feedback control unit that calculates an assist command value via angle feedback control in which a pinion angle is made to follow the angle command value; and a control signal generation unit that generates a motor control signal on the basis of the assist command value. The basic assist component calculation unit includes: a torque command value calculation unit for calculating a torque command value that is a target value for steering torque to be input by a driver; and a torque feedback control unit that calculates the basic assist component via torque feedback control in which the steering torque is made to follow the torque command value.

Abstract: The disclosure is generally directed to systems and methods for automatically detecting internally blocked rear and side view mirrors. An example method to detect an obstruction may include detecting via sensors in the vehicle an obstruction preventing a driver from viewing a region of interest associated with a mirror, determining a permanence associated with the obstruction, and switching to a camera mode in lieu of the mirror when the obstruction has a permanence beyond a threshold.

Abstract: A steer-by-wire steering system, including: a pair of wheel steering devices respectively provided for right and left wheels of a vehicle, each of the pair of wheel steering devices including an actuator and configured to steer a corresponding one of the right and left wheels independently of the other of the right and left wheels; and a controller configured to control the pair of wheel steering devices such that steering amounts of the respective right and left wheels are equal to respective amounts based on a steering request, wherein the controller executes a steering-amount stabilizing control to reduce a change in the steering amounts in an external-force-dependent steering situation in which the right and left wheels are steered or likely to be steered by an external force applied to the right and left wheels.

Abstract: A method for controlling an assist motor of a power steering system, power steering system including the assist motor configured to apply a motor torque on a rack, and at least one steering computer, method being designed to servo-control a position of the rack to a position setpoint, method including: a maneuvering step in which the assist motor exerts a motor torque on the rack according to a motor torque setpoint; wherein the method also includes: servo-control step in which the steering computer determines a speed setpoint of the rack according to the position setpoint and to the position of the rack; limitation step in which the steering computer issues a limited speed setpoint which is lower than or equal to a maximum speed threshold; control step in which the steering computer determines the motor torque setpoint according to the limited speed setpoint and to a speed of the rack.

Abstract: A vehicle control method and apparatus to reverse a trailer are provided. The method includes storing a moving path of a trailer connected to the vehicle by a hitch, measuring a location of the trailer or a heading of the trailer when the trailer is reversed upon activation of a reversing mode, comparing the location of the trailer or the heading of the trailer in the stored moving path of the trailer with the measured location of the trailer or the measured heading of the trailer, and minimizing a difference between the location of the trailer in the stored moving path of the trailer and the measured location of the trailer, or a difference between the heading of the trailer in the stored moving path of the trailer and the measured heading of the trailer, and t performing an operation of reversing the trailer.

Abstract: A method for controlling a wheel axle assembly of a vehicle. The vehicle comprises a vehicle body with a longitudinal axis extending in a longitudinal direction, a transversal axis extending in a transversal direction and a vertical axis extending in a vertical direction. The longitudinal axis, the transversal axis and the vertical axis are perpendicular to each other. The longitudinal direction corresponds to an intended direction of travel of the vehicle and the vertical direction being parallel to a vertical line when the vehicle is positioned on a flat horizontally extending surface. The vehicle body comprises a vehicle body centre plane extending along the longitudinal axis and the vertical axis and separating the vehicle body into two body halves.

Abstract: A lane keeping control apparatus for a vehicle includes a controller. The controller is configured to set a target path on which the vehicle is to travel, calculate a control amount for an electric power steering motor, on a basis of at least an amount of deviation from the target path, control the vehicle such that the vehicle travels on the target path. The controller is configured to compare a response speed of an actual steering angle of the vehicle relative to a target steering angle for travelling on the target path and a set response speed, determine a gain of a current value for driving the electric power steering motor such that the response speed is equal to the set response speed, and update the determined gain.

Abstract: The present disclosure discloses a computer-implemented method for a pitch angle recognition of a steering column in a vehicle. In aspects, the computer-implemented method includes measuring first acceleration data using a first acceleration sensor and measuring second acceleration data using a second acceleration sensor. The computer-implemented method further includes determining drift data of at least one of the first acceleration sensor and the second acceleration sensor based on the first acceleration data and the second acceleration data. Additionally, the computer-implemented method includes determining a pitch angle of the steering column based on the drift data, the first acceleration data, and the second acceleration data.

Abstract: A steer-by-wire system can be controlled using a hypothetical or virtual model of a conventional automotive steering system such as an electric power steering (EPS) system in which a steering wheel is mechanically linked to one or more road wheels. The model of the EPS system may be implemented in algorithms or instructions of software. In order to reconstruct driving feedback similar to the conventional steering system in the steer-by-wire system, the steer-by wire system may use the model of the EPS system. For example, a controller of the steer-by-wire system controls an angular velocity of a steering feedback actuator of the steer-by-wire system operably connected with the steering wheel so as to provide a steering feedback to a driver or operator using the model of the EPS system.

Abstract: A method of detecting a hand positioning on a steering wheel using a sensing system having an electrically conducting signal line on a rim of the steering wheel with a priori knowledge about a relation between a distance of any portion of the signal line from a reference point and information on a position on the rim, and which further includes an electric impedance change of predefined magnitude that is permanently arranged at a predefined position along the signal line, a signal voltage source, and a control and evaluation unit. From a received measurement signal traveling along the signal line and having been reflected by the electric impedance change and by another portion or portions of the signal line, a reference travel time is determined. A position or positions on the rim of the other portion or portions of the signal line can then be determined.

Abstract: A method for transitioning a drive mode of a vehicle from an assisted drive mode (AS) to an automated drive mode (AD), the method including: providing an assisted drive mode (AS) configured to support a driver controlling the vehicle at a medium support level; receiving an activation request for activating an automated drive mode (AD) configured to control a driving of the vehicle autonomously; reducing a support level (SL) to a safe assisted drive mode (ADAS) configured to support the driver at a low support level, the reduction of the SL from the AS to the ADAS including a first kinematic feedback; and if the activation request is successful, increasing the SL from the ADAS to the AD, the increase of the SL from the ADAS to the AD including a second kinematic feedback to the driver; or if the activation request fails, maintaining the ADAS.

Abstract: A device (16) for determining a discrete representation (30) of a road section ahead of a vehicle (12) includes an input interface (22) for receiving sensor data (20) of a sensor (14) with information about the road section ahead of the vehicle, a setting unit (24) for ascertaining a control distance at which a property of the road section ahead of the vehicle that is relevant for an open-loop control of the vehicle changes based on the sensor data and for setting a support point in a discrete representation of the road section corresponding to the control distance. The setting unit is configured for setting a lower predefined second number (n2) of support points based on a predefined first number (n1) of support points.

Abstract: An articulated work vehicle has front and rear frames coupled. The work vehicle includes a hydraulic actuator driven by hydraulic pressure to change a vehicle body frame angle of the front frame with respect to the rear frame, a lever rotatable to change the body frame angle, a control valve that controls a flow rate of oil supplied to the hydraulic actuator, and a controller. The controller sets a target angle of the vehicle body frame angle with respect to an input angle of the lever, and controls the control valve such that an actual angle of the vehicle body frame angle matches the target angle of the vehicle body frame angle.

Abstract: Provided is a control device for an electric power steering device including a first control portion that derives a first command value based on a steering torque and a second control portion that derives a second command value based on a target command value for a driving support function, where the first control portion generates the first command value by extracting a command value corresponding to a vibration suppression component from a command value including the vibration suppression component derived from the steering torque, adjusting the derived command value according to an operating state of a function of the second control portion, and adding the extracted command value to the adjusted command value.

Abstract: A driveway departure system for a vehicle is disclosed and includes a processing device configured to define a path for backing the vehicle along a drivable surface of the driveway that maintains the vehicle on the drivable surface of the driveway and to operate a vehicle system to back the vehicle along the defined path and on the detected drivable surface.

Abstract: One general aspect includes a system having a memory configured to include one or more executable instructions and a processor configured to execute the executable instructions, where the executable instructions enable the processor to estimate a rate of change of a hitch angle between a trailer and vehicle, the estimated rate of change of the hitch angle being based on a turn angle for a plurality of rear wheels of the vehicle as well as a speed of the vehicle.

Abstract: An actuator whose total length can be reduced is provided. An actuator (2) includes: a casing (7); a hollow shaft (8) rotatably supported by the casing (7) via a bearing (9a, 9b), the hollow shaft (8) including a bottom portion (8b); a screw shaft (14) coupled to the bottom portion (8b) of the hollow shaft (8), the screw shaft (14) sharing a common center line with the hollow shaft (8); and a nut (15) threadedly connected to the screw shaft (14). The nut (15) is capable of moving in an axial direction of the screw shaft (14) to enter between the hollow shaft (8) and the screw shaft (14).

Abstract: Model-based control of dynamical systems typically requires accurate domain-specific knowledge and specifications system components. Generally, steering actuator dynamics can be difficult to model due to, for example, an integrated power steering control module, proprietary black box controls, etc. Further, it is difficult to capture the complex interplay of non-linear interactions, such as power steering, tire forces, etc. with sufficient accuracy. To overcome this limitation, a recurring neural network can be employed to model the steering dynamics of an autonomous vehicle. The resulting model can be used to generate feedforward steering commands for embedded control. Such a neural network model can be automatically generated with less domain-specific knowledge, can predict steering dynamics more accurately, and perform comparably to a high-fidelity first principle model when used for controlling the steering system of a self-driving vehicle.

Abstract: The embodiments of the present disclosure relate to a torque compensating device and method. Specifically, the torque compensating device according to the present disclosure may include a compensation torque amount calculator for calculating a compensation torque amount by performing band pass filtering on a frequency corresponding to a vehicle speed of a host vehicle, an inverse compensation torque generator for generating an inverse compensation torque if it is determined that judder and shimmy of a steering wheel have occurred based on the compensation torque amount, and a controller configured to control the generation of the inverse compensation torque to be stopped by determining to be a temporary kickback if the compensation torque amount is calculated to be less than or equal to a first reference value.

Abstract: A power supply system includes a system control unit, an auxiliary power supply, and an auxiliary-power-supply control unit. The system control unit and the auxiliary-power-supply control unit are configured such that information of at least one control unit of the system control unit and the auxiliary-power-supply control unit is able to be output to another control unit of the system control unit and the auxiliary-power-supply control unit. The at least one control unit is configured to output information indicating that an operation of the at least one control unit is stopped to the other control unit when the at least one control unit stops the operation of the at least one control unit.

Abstract: A motor controller is operable to control a motor. The motor has a first terminal and the motor controller includes an angular velocity transmission path having an input and an output. A current generator includes a velocity-torque input, an angular position input, and a motor drive output. The velocity-torque input is coupled to the output of the angular velocity transmission path. An angular velocity feedback path is coupled between a first terminal and a first location on the angular velocity transmission path. The first location is between the input and the output of the angular velocity transmission path. A current feedback path is coupled between the first terminal and a second location on the angular velocity transmission path. The second location is disposed between the first location on the angular velocity transmission path and the velocity-torque input of the current generator.

Abstract: A tailgate hitch sensor system is installed by mounting a housing around the end of a receiver tube on the back of a hitch, and then plugging the system into both the OEM passenger side tailgate locking mechanism and the OEM driver side tailgate locking mechanism. A magnetically operated reed switch is positioned at the top of the housing, and a cover supporting a magnet is pivotally hinged to the housing so the cover has a normally closed position covering the receiver tube. When the cover is closed, the tailgate operates normally. When the cover is open, the electrical circuit for at least one stage of lowering the tailgate is de-activated.

Abstract: A steer-by-wire steering system for a vehicle, including: an operating device including a steering operating member, a counterforce applying mechanism configured to apply, to the steering operating member, an operation counterforce by a counterforce motor, and an operating controller configured to control the operation counterforce; a steering device including a steering actuator configured to steer a wheel by a steering motor and a steering controller configured to control an amount of steering of the wheel by the steering actuator; and a communication line communicably connecting the operating controller and the steering controller, wherein the steering controller is configured to: determine a status code based on a status of the steering device; and transmit the status code to the operating controller via the communication line; and wherein the operating controller is configured to change a magnitude of the operation counterforce in accordance with the status code received by the operating controller.

Abstract: A vibration reduction apparatus of an MDPS may include: an adaptive control module configured to detect an error signal, generated by disturbance, from a torque signal of a torque sensor which senses torque of the MDPS, and generate a compensation signal for compensating for a disturbance signal by using the error signal; and an adaptive filter module configured to generate a filter signal by using the vibration frequency of the disturbance of the MDPS, remove a disturbance component of a current command outputted from an MDPS controller, on the basis of the filter signal, and output a current command in which the disturbance is suppressed. The MDPS controller may generate a final current command on the basis of the compensation signal and the current command in which the disturbance is suppressed, and control a motor of the MDPS according to the final current command.

Abstract: A method autonomously controls a mobility of an automotive apparatus, which mobility is such as to have an influence on the path of the apparatus. The method includes steps of: acquiring parameters relative to the path of the apparatus, and of computing a new control setpoint for the mobility of the apparatus depending on said parameters, this new control setpoint being determined by means of a controller that respects a model that limits the variation in the control setpoint.

Abstract: An apparatus includes an interface and a processor. The interface may be configured to receive pixel data corresponding to an exterior view from a vehicle. The processor may be configured to (a) process the pixel data arranged as video frames, (b) generate video data for a display in response to the video frames, (c) store a plurality of view preferences for the display, (d) determine (i) a current location of the vehicle, (ii) a current status of the vehicle, (iii) a current maneuver being performed, and (iv) which portion of the current maneuver is being performed, and (e) generate an output signal to select a view for the display. Each view preference generally corresponds to one or more of (i) a location, (ii) a vehicle status, (iii) a maneuver, and (iv) a portion of the maneuver, when the maneuver comprises more than one portion.

Abstract: An integrated memory system for a driving position is provided. The integrated memory system includes a steering column having an inner column, and an outer column that is movable in an axis direction relative to the inner column. A position detecting unit including a plurality of detection positions detects a relative position of the outer column with respect to the inner column in response to a movement of the outer column and a controller is connected to the position detecting unit.

Abstract: The invention relates to a motor vehicle and to a method for operating a motor vehicle for carrying out a parking procedure, wherein the motor vehicle comprises at least a first parking assistance function and a second parking assistance function, which may be selected as desired, and wherein the method comprises: detecting a gripping status of a steering handle of the motor vehicle by a driver; and automatically selecting the first or the second parking assistance function depending on the gripping status.

Abstract: A riding lawn mower includes a power output assembly including a mowing element, a cutting motor for driving the mowing element to move, and a cutting control module for controlling the cutting motor; a walking assembly including a walking wheel, a walking motor for driving the walking wheel to travel, and a walking control module for controlling the walking motor; and a first operating component configured to set starting modes of the walking motor. The first operating component has a first operating state configured to start the walking motor in a first starting mode, and a second operating state configured to start the walking motor in a second starting mode. In the first starting mode, the walking motor starts at a first starting acceleration. In the second starting mode, the walking motor starts at a second starting acceleration. The second starting acceleration is greater than the first starting acceleration.

Abstract: In exemplary embodiments, methods, systems, and vehicles are provided that include: one or more sensors disposed onboard a vehicle and configured to at least facilitate obtaining sensor data for the vehicle; one or more location systems configured to at least facilitate obtaining location data pertaining to a location of the vehicle; a computer memory configured to store map data pertaining to a path corresponding to the location; and a processor disposed onboard the vehicle and configured to at least facilitate: generating an elevation profile along the path using the sensor data and the map data; and providing instructions for controlling the vehicle using the elevation profile.

Abstract: A method is provided for steering control of a vehicle by using lateral velocity of two know points (or lateral velocity of one known point and yaw rate), longitudinal velocity and steer angle information. These factors are used to calculate a target steer angle based on the track angle based on yaw decomposition to thus adjust a current steer angle of the vehicle based on the target steer angle.

Abstract: A computer includes a processor and a memory storing instructions executable by the processor to receive data indicating a lane change by a first vehicle that is towing a second vehicle, the data including data indicating a direction that first wheels of the first vehicle are turning while the first vehicle is performing the lane change; and during the lane change, instruct a steering system of the second vehicle to turn second wheels of the second vehicle in a same direction as the first wheels.

Abstract: A vehicle steering system includes an input configured to receive a signal representing a target steering angle, an output configured to provide a torque output command to a steering motor based on the target steering angle, and a torque limiter module configured to receive the torque output command and apply a torque limit thereto, prior to the torque output command being provided to the steering motor. The torque limit is configurable dynamically based on at least one vehicle parameter.

Abstract: A system comprises: a radio frequency (RF) resonator comprising a cavity and a tuning element, the cavity having at least one port, and the tuning element having a length inside the cavity; a processor; a spectrum analyzer coupled to the at least one port, the spectrum analyzer to provide to the processor values of a resonance parameter, the resonance parameter indicative of a resonant wavelength of the RF resonator; and an automotive steering mechanism coupled to the tuning element.

Abstract: The steering control device includes an automatic steering controller that generates an automatic steering control amount and a manual steering controller that generates a manual steering control amount, and selects either one of an automatic steering mode and a manual steering mode to control an electric motor. When steering torque exceeds a predetermined value during the control in the automatic steering mode, the manual steering controller generates a manual steering control amount change based on the change in the manual operation amount with reference to the time of exceeding, generates the manual steering control amount based on the steering torque, controls the electric motor based on a control amount obtained by adding the manual steering control amount change to the automatic steering control amount at the time of exceeding, and then controls the electric motor in the manual steering mode.

Abstract: A method is described for controlling an electric motor having a rotor. The method is carried out after a shutdown of the motor has been initiated. The method includes starting a timer in a motor controller, performing regenerative braking to recapture kinetic energy from the rotor as electrical energy, and using the recaptured electrical energy from the regenerative braking to power the motor controller. If the timer in the motor controller exceeds a predetermined timer value, a flag is set in memory in the motor controller to indicate that the motor has stopped.

Abstract: In one embodiment, a first trajectory is generated for a driving environment using control values allowed for a driving-by-wire system. If the trajectory includes a collision with an object, the ADV estimates the time of the collision and the relative speed between the ADV and the object at the time of the collision. A second trajectory is then generated for the driving environment using control values allowed for a human driver. The time of the collision and the relative speed between the ADV and the object at the time collision on the second trajectory are also estimated. The ADV then compares the two collision times and the two relative speeds, and based on the comparison, generates an alert message for the human driver to take over the control of the ADV.

Abstract: A method in which a continuous estimation of the intermediate friction rate is carried out, allowing the integration of the method into a general friction compensation method so as to continuously improve the feel on the steering wheel, particularly for speeds below a determined threshold. Also, a method for friction compensation in an electrical power steering system, characterised in that the compensation method takes into account a continuous estimation of the intermediate friction rate obtained by the estimation method.