267 results about "Overtaking" patented technology

A method for operating an automatic speed control system of an automotive vehicle. Initially, in a normal follow mode, a setpoint distance between the vehicle and a preceding vehicle is set to a first value d1, and a setpoint vehicle acceleration is into a first value a1. Upon detection of an intention of the vehicle driver to overtake the preceding vehicle (such as switching on a turn indicator), the setpoint distance is reset to a second value d2 that is smaller than d1. The setpoint acceleration may be reset to a second value a2 greater than a1 simultaneously, or the second value a2 may be set upon detection of initiation of a lane change into an overtaking lane (such as turning a steering wheel). The method assists the driver during the execution of an overtaking process, and a safer, more comfortable and free-flowing sequence of the overtaking process is ensured.

A method to control a network device in a network comprising several devices includes a first controller that operates to prevent another controller from performing an unwanted overtaking of a network device that is currently controlled by the first controller. In one embodiment, the first controller has the ability to reserve a controllable network device to thereby become its primary controller, so that the first controller may maintain control over the controllable network device against control demands of other controllers present in the network.

The present invention belongs to the automatic driving technical field and relates to an expressway-based embedded integrated automatic driving controller. The expressway-based embedded integrated automatic driving controller comprises an automatic driving sensing unit, a vehicle vertical and horizontal action control module, a driving mode switching control module and a human-computer interaction control module which are all integrated on a programmable gate array; the programmable gate array comprises at least a data transmission interface, a control signal transmission interface and a human-computer interaction interface, wherein the data transmission interface carries out data interaction with an environment sensor and a vehicle speed sensor, the control signal transmission interface can transmit control instructions to an execution unit, and the human-computer interaction interface transmits signals to a human-computer interaction system. A whole set of automatic driving system with functions such as sensing integration, path planning, decision planning and control is integrated into an embedded controller, so that the expressway-based embedded integrated automatic driving controller can be realized, and automatic driving functions such as adaptive navigation, lane keeping, autonomous lane changing, autonomous overtaking, autonomous acceleration, emergency braking and automatic pull over can be realized, and the size of the automatic driving system can be greatly decreased, and the power consumption of the system is decreased. The controller is easy to realize mass production.

The invention discloses a planning method for autonomous lane changing overtaking movement of an intelligent vehicle in a semi-structured environment. The planning method comprises the following steps that 1, the current travelling state of the vehicle is determined; 2, an overtaking lane-changing track for leftward lane changing is planned through a lane changing route planning method based on combination of GPS and lane lines; 3, the coordinate of an overtaking lane-changing pre-aiming point is determined, the overtaking lane-changing track is updated; 4, after leftward lane changing is finished, overtaking is conducted according to the set overtaking speed and the set overtaking time; 5, rightward lane returning is conducted according to the method in the step 2; 6, the coordinate of an overtaking lane-returning pre-aiming point is determined, and an overtaking lane-returning track is updated; and 7, after rightward lane returning is finished, straight travelling is conducted according to the set straight travelling speed. By adopting the lane changing route planning method based on combination of the GPS and the lane lines, good fault-tolerant capability and robustness are achieved; and lane changing points are dynamically updated in the lane changing process so that the vehicle can better avoid static obstacles and dynamic obstacles and be driven into an adjacent lane.

The invention discloses a multi-mode bus combinatorial dispatch-based schedule making method. The method comprises the following steps: A1, acquiring bus station passenger flow data and processing the flow data; A2, determining a station stop method of a multi-mode bus (a whole-journey bus, an inter-zonal bus and a big station speedy bus); A3, establishing a multi-mode bus combinatorial dispatch model; A4, designing a combinatorial dispatch optimization algorithm. For the purpose of public transport service, a combinatorial bus dispatch method with an indefinite departure interval is researched, the problem of overtaking of vehicles of different modes is fully considered, and the vehicles having arrived at a station are reordered. The method can effectively reduce the departure frequency and the system time cost.

The invention relates to a multi-intelligent agent based unmanned electric car automatic overtaking system and method. The automatic overtaking system includes a vehicle-mounted sensor for acquiring front traffic information of an unmanned electric car. The automatic overtaking method includes: establishing a minimize safe distance model on the basis of feature information of a car and a surround environment thereof extracted by a vehicle-mounted sensing system and a V2X communication system; setting a sine function form as a base function of an automatic overtaking desired path, and dynamically planning an automatic overtaking desired track of the unmanned electric car in real time; adopting a self-adaption fuzzy slide mode control technique to solve the desired speed and the desired yaw velocity of overtaking of the unmanned electric car on the basis of a deviation between the desired overtaking path and an actual path; adopting a multi-intelligent agent genetic optimization algorithm to calculate out the required longitudinal and horizontal force of each wheel of the unmanned electric car; and establishing a mapping model from the longitudinal and horizontal forces of the wheels of the unmanned electric car to the desired slip angle and slip rate, and achieving execution control of the longitudinal and horizontal force of tires the unmanned electric car.

The invention discloses an automotive collision avoidance safety protecting device and a protecting method based on infrared image processing. The protecting device disclosed by the invention comprises an infrared camera and camera control subsystem, an infrared camera pickup illuminating subsystem, a central processing unit, an acoustic image and light alarming subsystem, a vehicle speed control subsystem, a signal detecting module and a power module. By an infrared imaging technology, the device and the method disclosed by the invention are suitable for the automotive safety protection under various environmental climate conditions and various road conditions; an obstacle mathematical model based on a virtual lane and an identification space is established, and precise distance measurement on an obstacle is completed; the identification space is established in the virtual lane, the range of images to be processed is limited, the quantity of processing data is effectively reduced, and the real-time performance and the rapidness of the device are guaranteed; and an obstacle distance measuring formula is derived with the obstacle mathematical model, distance measurement is simple and reliable, the practicability is stronger, normal overtaking and steering are not affected, collision accidents and real-end collision can be effectively avoided, and driving safety is guaranteed.

An overtaking prediction method of, when input and output of data to and from a common memory are being performed with an input frame frequency and an output frame frequency made different from each other, predicting a frame in which overtaking occurs between the input and the output of the data to and from the memory. The overtaking prediction method includes a step of predicting the frame in which the overtaking occurs between the input and the output of the data, on the basis of a first parameter corresponding to a difference amount between a progress speed of a write address and a progress speed of a read address and a second parameter corresponding to a difference between a write address and a read address at an overtaking prediction point and to an offset address difference amount between an input offset address and an output offset address.

A real-time communications system for decentralized management is accomplished which was not implemented conventionally. To achieve this, the following techniques are employed: (1) Overtaking of communication packets based on priority; (2) Path control based on the priority; and (3) Priority change at each node. When carrying out real-time communication between a plurality of information processors, each communication node (information processor) carries out overtaking of the communication packets in accordance with the priority. In the course of this, each communication node can change the priority, and establish different paths for each of the priority.

The invention provides an automatic overtaking trajectory planning method for an unmanned vehicle. The automatic overtaking trajectory planning method comprises the following steps: historical overtaking data under a manual driving state are selected to establish an overtaking intent model according with human driver habits; under the unmanned driving state, whether the overtaking intent is generated or not is determined according to information collected by a vehicle-borne three-dimensional laser radar and a wheel speed sensor in real time; according to the collision time, whether the overtaking condition is met or not is judged; whether overtaking operation is executed or not is manually determined; overtaking trajectories meeting safety and comfort constraints are automatically planned;and the overtaking trajectories are dynamically updated and displayed on a driving cab display screen. Compared with the prior art, based on overtaking habits of a human driver, influences of the physical dimension and motion state of a front vehicle on the overtaking intent and trajectory planning of the vehicle are taken into full consideration, the optimal overtaking trajectory is selected, the overtaking accident is effectively avoided, and thus the automatic overtaking trajectory planning method is suitable for being used and popularized.

A management control device controls multiple unmanned vehicles, including the overtaking of a vehicle using an opposite lane. First and second travel permission sections are set for an own vehicle and another vehicle in a stopped state located ahead of the own vehicle on a traveling lane. A path by which the own vehicle overtakes the other vehicle is generated to include a first transition section to change lanes from a traveling lane to an opposite lane, an overtaking section that connects to the first transition section. Also included is a second transition section that connects to the front end of the overtaking section and is for the own vehicle to return to the traveling lane. The section length of the second travel permission section being set in advance is thereby shortened.

The invention provides an unmanned vehicle path planning and tracking control method based on differential flatness and active-disturbance rejection and can improve the tracking effect of a four-wheel steering unmanned automobile during high-speed overtaking. The method is advantaged in that step 1, a three-degree-of-freedom four-wheel steering automobile monorail control model is established; step 2, based on the control model established in the step 1, according to the differential flatness theory, an under-actuated controlled model is converted into an input output coupling model having disturbance and having no zero dynamic subsystem; step 3, a path planning layer is established above a tracking control layer; and step 4, according to the input output coupling model based on the step 2, an active-disturbance rejection controller based on a generalized proportion integration observer is designed, and tracking of locus planned in the step 3 is realized.

The invention relates to a dangerous-overtaking early-warning prompting method. The dangerous-overtaking early-warning prompting method comprises the steps that (1) the states of vehicles in front of a vehicle and behind the vehicle are detected, and the state of the vehicle is judged; (2) when the vehicle is in a vehicle following stage, whether a left lane and the position in front of a lathe where the vehicle is located are safe or not is judged, if the lanes are safe, the prompt that safe overtaking can be carried out is given to a driver of the vehicle, and if the lanes are dangerous, the prompt that overtaking cannot be carried out is given to the driver of the vehicle; (3) when the vehicle is in an overtaking state, whether the side direction, the front portion and the rear portion of the vehicle are safe or not is judged, if the positions are safe, the prompt that safe driving can be carried out is given to the driver, and if the positions are dangerous, an alarm is given out; (4) when the vehicle is in a stage that the vehicle will return, whether the lathe where the vehicle is originally located is safe or not is judged, if the lathe is safe, the prompt that safe return can be carried out is given to the driver, and if the lathe is dangerous, the prompt that return cannot be carried out is given to the driver. The invention further discloses a dangerous-overtaking early-warning prompting system. According to the dangerous-overtaking early-warning prompting method and system, real-time detection and prediction can be carried out on the motion state of the vehicle and the motion states of the surrounding vehicles, the alarm can be given to the driver under the condition that dangers and potential dangers exist, traffic accidents are effectively prevented from happening, and the driver can be prompted whether safe overtaking or safe return to the original lathe can be carried out or not under the condition that the potential dangers do not exist.

The invention relates to an intelligent pantograph device for trolley bus and a using method thereof, which relate to the field of intelligent control of pantograph of a trolley bus and solve the problem that the conventional trolley bus can only realize overtaking on a single side and the problem that the automatic connection cannot be realized between the pantograph and a contact wire in an overtaking process. In the invention, when the pantograph is lifted, a contact wire tracing program based on the processing of image captured by an infrared camera on a pantograph assembly is adopted to regulate the angle of the pantograph, a movable cable clamp is used to compensate for an error, and thus, the pantograph is connected to the contact wire automatically; during overtaking, a rear vehicle informs a front vehicle of lowering the pantograph through a communication unit and determines if to allow the pantograph of the front vehicle to return, the contact wire tracking program is used to lower the pantograph of the front vehicle if the pantograph of the front vehicle does not return, and the head of the pantograph is allowed to return to the edge above the vehicle body; and when the pantograph is lowered, the pantograph can fall and return automatically. The device can realize the automation of the power connection and disconnection of the trolley bus and the automation of overtaking, and greatly improve the operation efficiency and flexibility of the trolley bus. Thus, the device has certain practical value.

An automobile cruise control method and a cruise device utilize an optical signal detection device to detect whether a steering lamp of a side vehicle on a bypass is turned on or not; when the steering lamp of the side vehicle is turned on, the speed of the side vehicle is detected by using a speed detector; a controller calculates the difference between the speed of a main vehicle and the speed of the side vehicle, and the difference is compared with the preset safe speed difference; when the calculated difference is less than the safe speed difference, an alarm is given for emergency braking; when the calculated difference is more than the safe speed difference, deceleration and braking are carried out to ensure that the automobile can keep the safe distance with the front vehicle, i.e.a new target vehicle as soon as possible; particularly when the calculated difference is far more than the safe speed difference, any measure is unnecessarily taken. The automobile cruise control method and the cruise device can accurately handle the condition according to the overtaking and lane-changing of the side vehicle, thereby effectively improving the usability and flexibility of the cruise device.

The invention discloses an overtaking method and system, and belongs to the technical field of automobiles. The overtaking method comprises the following steps that a detection module obtains the location relationship information of a target vehicle, a first barrier and a second barrier, wherein the location relationship information comprises the distance between the target vehicle and the first barrier in the preset direction, the distance between the target vehicle and the second barrier in the preset direction, the moving speed of the second barrier, and the width of a second lane on which the target vehicle can run; the target vehicle and the first barrier are positioned on a first lane, and the first barrier is positioned in front of the target vehicle; the second barrier is positioned on the second lane, and the second lane is adjacent to the first lane; according to the location relationship information, the situation whether the target vehicle can execute an overtaking action or not can be judged, and if yes, overtaking instruction information is generated. The overtaking method and system, disclosed by the invention, solve the problem that the rate of traffic accidents caused by overtaking is high, so that the rate of traffic accidents caused by overtaking is reduced. The overtaking system disclosed by the invention is used for automatic overtaking.

The invention discloses an overtaking control method and device used for an unmanned vehicle.The embodiment of the method includes the steps that overtaking request information sent by a vehicle to overtake is received and includes identification information of the vehicle to overtake and information of the position relative to the unmanned vehicle; whether the current road segment allows overtaking or not is detected; responding to the detection result that the current road segment allows overtaking, the distance between adjacent road segments is adjusted according to the information of the position relative to the unmanned vehicle; according to information of the adjusted distance, an overtaking signal is sent to the vehicle to overtake.Overtaking safety is ensured by the implement mode.

The invention relates o an overtaking early warning method and device. The method comprises steps that the state information of a present vehicle and vehicles around the present vehicle is acquired; according to the state information of the present vehicle and the vehicles around the present vehicle, orientation types of the vehicles around the present vehicle are determined; if a vehicle of the vehicles around the present vehicle is in a reverse direction in front, whether the present vehicle satisfies reverse overtaking conditions is determined according to the state information of the present vehicle, the vehicles in front and the front reverse vehicle; an overtaking early warning strategy corresponding to the determination result is outputted according to the determination result of whether the present vehicle satisfies the reverse overtaking conditions. The method is advantaged in that problems of lack of accuracy and safety caused by artificial determination during reverse overtaking in the prior art are solved.

A vehicle detection method and system for detecting traffic violations is disclosed which has two camera systems (14 and 16) spaced apart from one another. Each system includes multiple cameras (14a, 14b and 16a, 16b) for monitoring the lanes of the roadway. Vehicles are detected by the camera systems (14, 16) and the lanes in which the vehicles are travelling and / or the order of the vehicles is determined by image analysis to identify the vehicles so that illegal lane changes or illegal overtaking can be determined.

The invention discloses an automobile four-wheel active steering control system which comprises a driver preset steering detecting device, an actual steering detecting device and an electronic control unit, wherein the driver preset steering detecting device is used for detecting the preset steering state of the driver in real time; the actual steering detecting device is used for detecting the actual steering state of the automobile in real time; the electronic control unit is used for analyzing and comparing detected signals of the driver preset steering detecting device and the actual steering detecting device and correspondingly controlling a front wheel steering controller and a rear wheel steering controller; and the driver preset steering detecting device and the actual steering detecting device are both connected with the electronic control unit. The automobile four-wheel active steering control system has reasonable design, is easy and convenient to use and operate and can effectively improve the controllability problem of the four-wheel steering automobile during turning, thereby greatly improving the safety of the automobile during meeting, overtaking and curve running.

The invention relates to an intelligent overtaking method and system for an automobile. The method includes the following steps that firstly, an overtaking system is started, the position information of vehicles around the vehicle is obtained through vehicle-mounted radar, and a planar coordinate system is set up; secondly, whether the overtaking conditions are met or not is judged; thirdly, the forecast running track of the front vehicle to be overtaken is obtained according to an online forecast algorithm; fourthly, the initial overtaking track of the vehicle is generated according to the forecast running track of the front vehicle; fifthly, whether overtaking is over or not is judged according to the position information, obtained in real time. of the front vehicle to be overtaken; sixthly, the position signal of the front vehicle to be overtaken is obtained continuously in real time, the running track is forecasted according to the online forecast algorithm, and the overtaking track of the vehicle is corrected in real time; seventhly, whether the acceleration of the front vehicle to be overtaken exceeds a corresponding threshold value or not is judged; eighthly, whether the value of K is equal to five or not is judged; ninthly, the intelligent overtaking system is shut down. Compared with the prior art, the intelligent overtaking method and system have the advantages that the overtaking safety is achieved, operation is simple, cost is low, and the algorithm is advanced.

The invention relates to a high-reliability and low-false alarm rate highway automobile anti-collision system and method. The highway automobile anti-collision system comprises a central processing unit, radar, a steering wheel angle sensor, a vehicle speed sensor, a steering lamp sensor, a camera, a location speed measurement sensor and an output unit, wherein the radar communicates with the central processing unit. The technical problem that the false alarm rate of a traditional radar automobile intelligent anti-collision system is high is solved by the highway automobile anti-collision system. According to the highway automobile anti-collision system, by utilizing the multi-sensor fusion technique, the advantages of all the sensors are fully exploited; the integrated information of people, vehicles and roads is provided, and therefore, false alarms caused by traffic signs, temporary passage vehicles, roadside buildings, curves, overtaking and platform bridges are reduced, unreal obstacles are eliminated, and the false alarm rate under the complicated environment is reduced.

The invention relates to a method for active obstacle avoidance trajectory planning and stable tracking control of a two-wheeled self-balancing vehicle, which comprises an obstacle avoidance trajectory planning method based on a circular arc and a transition curve and a stable tracking control method based on a non-singular terminal sliding mode algorithm and a nested saturation algorithm. Trajectories planned by a local trajectory planning method comprise a lane changing trajectory, an overtaking trajectory and a lane combining trajectory. The non-singular terminal sliding mode algorithm controls a full-drive steering subsystem of the two-wheeled self-balancing vehicle, and the nested saturation algorithm controls an under-drive forward subsystem of the two-wheeled self-balancing vehicle. The obstacle avoidance trajectory planned according to the invention has the characteristics that the trajectory is gentle in curvature change and stable tracking of the under-drive two-wheeled self-balancing vehicle is facilitated; and the stable tracking control algorithm provided by the invention can enable the two-wheeled self-balancing vehicle to stably track the planned obstacle avoidance trajectory at a large initial value of the vehicle body inclination angle and keep the vehicle body to be stable at the same time, and thus active obstacle avoidance of the two-wheeled self-balancing vehicle is achieved.

The invention provides an overtaking pre-judgment method and a terminal. The method comprises steps of: acquiring a first initial distance between the head of a host vehicle and the tail of a first vehicle before a lane change, wherein the first vehicle drives in a lane where the host vehicle is located and ahead of the host vehicle along a direction the same as that of the host vehicle; calculating a first predicted distance between a target vehicle and a second vehicle after the host vehicle overtakes, wherein the target vehicle is the host vehicle or the first vehicle, and the second vehicle drives in an adjacent lane and ahead of the host vehicle; and outputting an overtaking prompt if the first initial distance is greater than or equal to a preset safety distance and the first predicted distance is greater than or equal to the preset safety distance. Before the host vehicle overtakes, the method makes pre-judgment and outputs the overtaking prompt if the first initial distance isgreater than or equal to the preset safety distance and the first predicted distance is greater than or equal to the preset safety distance, thereby reducing the probability of traffic accidents during overtaking and well ensuring the safety of the overtaking vehicle.

The invention relates to a dangerous overtaking early warning device based on multi-sensor data fusion. The dangerous overtaking early warning device based on multi-sensor data fusion comprises a DSP, wherein the input end of the DSP is connected with a video signal acquisition module, the output end of the DSP is connected with a video signal display module, the input-and-output end of the DSP is connected with a laser radar communication module and an MCU microprocessor through a serial port communication module, the input-and-output end of the MCU microprocessor is connected with a workshop communication module, a steering wheel turning angle detecting module and a speed measurement module, and the output end of the MCU microprocessor is connected with an LED module and a sound prompting module. The invention further discloses a dangerous overtaking early warning method based on multi-sensor data fusion. According to the dangerous overtaking early warning device based on multi-sensor data fusion and the dangerous overtaking early warning method based on multi-sensor data fusion, rear-end collision caused by misjudgement of the speeds of vehicles of both sides and the distance between the two sides during overtaking of a driver can be effectively avoided, collision accidents occurring due to the fact that the driver neglects a vehicle behind during overtaking can be effectively avoided, other road accidents caused by overtaking can also be avoided, the initiative is high, and the safety performance is high.

The invention discloses a manual and automatic complementary vehicle headlamp dimmer which performs integrated control according to environment visual range, close light distance, parking visual range, braking, overtaking and a plurality of other information. The invention mainly consists of a microprocessor and peripheral elements, as well as the circuits such as driving control and power load, control and power source, former vehicle information derivation, broken wire failure diagnosis, controlling component and condition indication, etc. The invention has two light changing modes of a manual-automatic mode and a full-manual mode, wherein the full-manual mode has the same function as the prior manual dimmer; the manual-automatic mode not only accords with the light changing rules during deceleration in actual automobile meeting, turning and bad road conditions, etc., and during acceleration in actual overtaking, straight traveling or good road conditions, etc.; but also automatically protects the automobile meeting safety under manual far light in low speed traveling and the overtaking safety under manual close light in high-speed car-following traveling. The manual and automatic complementary vehicle headlamp dimmer also has additional functions such as optical control light turning on / off, flameout delay light turning off, emergency braking far light, steering auxiliary lighting, failure diagnosis processing, self reset combined switch, and so on.

The invention discloses a computerized judging system and method based on three-dimensional laser vision and high-precision lane model; the system installed on a driving test vehicle comprises an embedded vehicular terminal, a mobile communication module, a three-dimensional laser scanner and a high-precision satellite receiver; the vehicular terminal operates a machine vision module and judging module based on three-dimensional laser scanning and high-precision lane model; the vehicular terminal downloads the high-precision lane model in real time through the mobile communication module, recognizes vehicles and passengers through the vision module, judges distances and speed, judges whether driver's behaviors, in case of meeting, overtaking and passengers passing by ahead, are standard or not in conjunction with the judging module so as to obtain corresponding test scores. Targets to passengers and vehicles are recognized and traced through fusion computing of three-dimensional laser scanning and high-precision lane model, positional and speed information of target objects around a vehicle, in three-dimensional space, can be reflected more precisely, and judgment related to vehicles and passengers around, unable to be achieved in the traditional driver actual road test system, is achieved according to the judging module.

The invention relates to a method for controlling sudden acceleration tyre slipping gear shifting for an AMT (automatic manual transmission) vehicle. The method is characterized in that wheel speed signals of four wheels of a vehicle and output shaft rotation speed gradient signals are collected and are respectively transmitted to a TCU (transmission control unit) for analyzing; when wheel speed difference V or output shaft rotation speed gradient NTG is greater than calibration entry conditions Vin or NTGout, a system instantly enters the sudden acceleration tyre slipping gear shifting control, no matter what gear is sent out by Gp_new, the system keeps the existing gear Gp; when the wheel speed difference V or the output shaft rotation speed gradient NTG is less than calibration exit conditions Vout or NTGout, the system record is less the time T of a calibration value, if T is less than Tout, the system does not exit the sudden acceleration tyre slipping gear shifting control; and if T equals to Tout, the system exits the sudden acceleration tyre slipping gear shifting control instantly and enters a normal gear shifting control, namely Gp equals to Gp_new. Through implementing the control method above by an AMT, the conditions of gear lifting and motive power interruption of the vehicle caused by the sudden acceleration tyre slipping are avoided, thus the vehicle gear shifting satisfies the intention of a driver, the safety of starting acceleration and side overtaking is ensured, and simultaneously the normal gear lifting function is not influenced.

The invention provides a hybrid electric vehicle engine torque control method and system and a vehicle. A torque-based engine fuel injection control obtains a driver required torque according to a driver required torque map based on an accelerator pedal opening degree and an engine rotating speed; a motor power assisting control obtains a motor assistance torque value according to a motor assistance torque map based on a battery SOC value and a motor rotating speed. Under the high-power required working conditions such as vehicle starting acceleration or high-speed uphill and rapid acceleration overtaking, the actual torque output of the engine is reduced through the increase of the motor assistance torque value, and finally the real driver required torque is obtained. The fuel injection quantity of an engine is obtained through a torque and fuel injection quantity map, and the torque output and fuel injection quantity of high-power required working conditions such as vehicle startingacceleration or high-speed uphill and rapid acceleration overtaking are reduced through the assistance of the motor; the method and system can achieve the fuel saving purpose, and ensure the stable operation of the vehicle.