Volvo Car Corporation

Ford Global Technolgoies, LLC

Mikael Thor

Jianbo Lu

Li Xu

Mats Jonasson

Mattias Brannstrom

Tony Gustafsson

Stefan Solyom

Mattias Brännström

Bengt Johan Henrik Jacobson

Bengt Jacobson

Mattias BRÄNNSTRÖM

A method, arrangement and system are described for estimating one or more vehicle cornering stiffness parameters (c, c) in a linear vehicle operating region. The method includes reading sensor data representative of at least vehicle () longitudinal velocity (v), vehicle lateral acceleration (a), vehicle yaw rate (&#x3c9;) and vehicle steering angle (&#x3b4;), determining from the read sensor data if the cornering stiffness parameters (c, c) are observable, and if so providing an estimate of the cornering stiffness parameters (c, c) using a bicycle model that includes a model of tire relaxation dynamics.

Method, arrangement and system for estimating vehicle cornering stiffness

A vehicle, a method, a secondary steering system unit and a secondary steering system are provided. The secondary steering system unit comprises: a fault determination arrangement arranged to determine the presence of a fault in the main steering system and a path controller arranged to generate an upcoming path for the host vehicle. The secondary steering system unit is arranged to steer the host vehicle along the path by differential braking upon determination that a fault is present in the main steering system. Furthermore, the secondary steering system is arranged to control the differential braking in dependence of both a yaw torque acting on the host vehicle as a result of the differential braking and a steering angle resulting from a generated alignment torque on a braked steerable wheel caused by the associated wheel suspension scrub radius.

Secondary steering system unit, secondary steering system, vehicle and a method for secondary steering

The present disclosure relates to a vehicle adapted for autonomous driving, such as an autonomous vehicle, comprising an assisting object detecting system for detecting obstructing objects to the vehicle. The object detecting system is adapted to detect an object by comparing a reference value of a selected parameter with a measured value of the selected parameter. The present disclosure also relates to a method and a computer program product for use in the vehicle.

Vehicle adapted for autonomous driving and a method for detecting obstructing objects

A yaw stability control system for a vehicle detects and eliminates the vehicle yaw angle resulting from a body-force-disturbance and returns the vehicle to a pre disturbance heading. A yaw rate module generates a signal indicative of the vehicle yaw rate error. A yaw angle error module is triggered in response to a body-force-disturbance being detected by a body-force-disturbance detection unit, and performs integrations of the yaw rate signals to calculate a yaw angle error in order to obtain a correction of the vehicle yaw angle resulting from the body-force-disturbance. A yaw control module uses the yaw angle error in combination with the yaw rate error for a limited time period to generate yaw control signals that are sent to the vehicle brakes and/or active steering system for performing vehicle yaw stability control operations a signal to perform a body-force-disturbance yaw stability control operation for.

Stability control system with body-force-disturbance heading correction

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Gothenburg, Sweden

Mikael Thor