An apparatus formulates a scheduling optimization problem for controlling the operation of an electric vehicle between multiple operating states based at least in part on battery status information of the electric vehicle, decomposes the scheduling optimization problem into a plurality of subproblems associated with respective sequences of time slots, implements an electric vehicle simulator to generate updated values of the battery status information, including one or more predicted values, for use in solving the subproblem for each of one or more of the sequences of time slots, based at least in part on a solution to the subproblem for a previous one of the sequences of time slots, and generates one or more control signals for the electric vehicle for each of one or more of the sequences of time slots based at least in part on the corresponding solution to the subproblem for that sequence of time slots.

A vehicle driving system that can suppress a difference in effect of vehicle attitude control between the cases where a friction braking force is applied and not applied, is provided. The system includes a rotating electric machine, a battery, a steering apparatus, a steering angle sensor, a brake actuator that applies a friction braking force, a friction braking force sensor, and a controller that sets a deceleration torque based on a steering speed detected by the steering angle sensor and controls the rotating electric machine to apply the deceleration torque to a front wheel of the vehicle, thereby executing a vehicle attitude control. When the friction braking force is applied to the wheels by the brake actuator during the vehicle attitude control, if the friction braking force is large, the controller corrects the deceleration torque to a larger value than when the friction braking force is small.

Aspects of the disclosure relate generally to speed control in an autonomous vehicle. For example, an autonomous vehicle may include a user interface which allows the driver to input speed preferences. These preferences may include the maximum speed above the speed limit the user would like the autonomous vehicle to drive when other vehicles are present and driving above or below certain speeds. The other vehicles may be in adjacent or the same lane the vehicle, and need not be in front of the vehicle.

Aspects of the disclosure relate generally to speed control in an autonomous vehicle. For example, an autonomous vehicle may include a user interface which allows the driver to input speed preferences. These preferences may include the maximum speed above the speed limit the user would like the autonomous vehicle to drive when other vehicles are present and driving above or below certain speeds. The other vehicles may be in adjacent or the same lane the vehicle, and need not be in front of the vehicle.

A drive force control system appropriately controls motors each connected to a corresponding one of drive wheels, so that a vehicle can be propelled with high efficiency. First motor and second motors are controlled in such a manner that a sum of torques transmitted to a right front wheel and a left rear wheel equals to a total value of required torques of the right front wheel and the left rear wheel. A target torque of the first motor and a target torque of the second motor achieving a smallest amount of power output from an electrical power source, for the output torques from the first motor and the second motor are calculated. A torque is generated by the first motor based on the target torque of the first motor calculated, and a torque is generated by the second motor based on the target torque of the second motor calculated.

A vehicle driving system that can suppress a difference in effect of vehicle attitude control between the cases where a friction braking force is applied and not applied, is provided. The system includes a rotating electric machine, a battery, a steering apparatus, a steering angle sensor, a brake actuator that applies a friction braking force, a friction braking force sensor, and a controller that sets a deceleration torque based on a steering speed detected by the steering angle sensor and controls the rotating electric machine to apply the deceleration torque to a front wheel of the vehicle, thereby executing a vehicle attitude control. When the friction braking force is applied to the wheels by the brake actuator during the vehicle attitude control, if the friction braking force is large, the controller corrects the deceleration torque to a larger value than when the friction braking force is small.

The vehicle control apparatus include: an inputter receive a regenerative braking signal and an anti-lock brake system operation signal output, and a driver's current necessary braking pressure value, in a regenerative braking state and in an ABS started state, a determiner determines whether the input driver's current necessary braking pressure value is in a first state in which the driver's current necessary braking pressure value is less than or equal to a set target pressure value, a calculator configured to calculate a current pressure value corresponding to a coast regeneration torque value when the input driver's current necessary braking pressure value is in the first state and a controller to convert the calculated current pressure value into a ratio of the current pressure value to the driver's current necessary braking pressure value to compensate for the target pressure value, and transmit a compensated target pressure value to the braking apparatus.

A drive force control system appropriately controls motors each connected to a corresponding one of drive wheels, so that a vehicle can be propelled with high efficiency. First motor and second motors are controlled in such a manner that a sum of torques transmitted to a right front wheel and a left rear wheel equals to a total value of required torques of the right front wheel and the left rear wheel. A target torque of the first motor and a target torque of the second motor achieving a smallest amount of power output from an electrical power source, for the output torques from the first motor and the second motor are calculated. A torque is generated by the first motor based on the target torque of the first motor calculated, and a torque is generated by the second motor based on the target torque of the second motor calculated.

Aspects of the disclosure relate generally to speed control in an autonomous vehicle. For example, an autonomous vehicle may include a user interface which allows the driver to input speed preferences. These preferences may include the maximum speed above the speed limit the user would like the autonomous vehicle to drive when other vehicles are present and driving above or below certain speeds. The other vehicles may be in adjacent or the same lane the vehicle, and need not be in front of the vehicle.

The vehicle control apparatus include: an inputter receive a regenerative braking signal and an anti-lock brake system operation signal output, and a driver's current necessary braking pressure value, in a regenerative braking state and in an ABS started state, a determiner determines whether the input driver's current necessary braking pressure value is in a first state in which the driver's current necessary braking pressure value is less than or equal to a set target pressure value, a calculator configured to calculate a current pressure value corresponding to a coast regeneration torque value when the input driver's current necessary braking pressure value is in the first state and a controller to convert the calculated current pressure value into a ratio of the current pressure value to the driver's current necessary braking pressure value to compensate for the target pressure value, and transmit a compensated target pressure value to the braking apparatus.