A vehicle control apparatus controls operations of a steering apparatus and a braking/driving apparatus to assist driving of a vehicle by an occupant on the vehicle including the steering apparatus configured to steer the vehicle and the braking/driving apparatus configured to brake/drive the vehicle. The vehicle control apparatus receives a single assistance request signal for requesting the assistance in the driving from the occupant, and transitions to an operation mode of assisting the driving. Then, the vehicle control apparatus receives perceived information acquired from an external world perception portion, determines a situation of a running road lying ahead of the vehicle based on this perceived information, determines a steering instruction for steering the vehicle based on the situation of the running road, determines a braking/driving instruction for braking/driving the vehicle based on the situation of the running road, and outputs the steering instruction toward the steering apparatus and outputs the braking/driving instruction toward the braking/driving apparatus.

The present disclosure provides an emergency braking system, an emergency braking method and a semitrailer, capable of improving the braking effect of the vehicle, thereby achieving improved safety for the vehicle. The system includes: a sensor component configured to collect sensed information on an environment where a semitrailer is located; and a braking controller configured to determine whether there is a risk of collision for the semitrailer based on the sensed information, and if so, calculate a maximum adhesive force that can be provided by a road surface the semitrailer is currently on, determine a first braking pressure corresponding to each wheel based on the maximum adhesive force and axle load information, and transmit to a braking system a first braking instruction carrying the first braking pressure for each wheel.

A turning behavior control apparatus that is applied to a vehicle includes front wheel suspensions and rear wheel suspensions having anti-dive and anti-lift geometries, respectively, and left and right front wheels are steered wheels. The turning behavior control apparatus includes a control unit for controlling the braking device, and the control unit is configured to control the braking device to apply a braking force to a turning inner driving wheel when a deviation between a standard yaw rate of the vehicle and an actual yaw rate exceeds a deviation reference value and a time change rate of the deviation exceeds a start reference value in a situation where the vehicle is turning without braking.

An automatic tilting vehicle includes a pair of wheels that are non-steering driving wheels, a braking/driving device, a vehicle tilting device, and a control device, and the control unit calculates a target tilt angle of the vehicle for tilting the vehicle turning inward and controls the vehicle tilting device so that a tilt angle of the vehicle becomes the target tilt angle. The control unit calculates target braking/driving forces of the pair of wheels based on a braking/driving operation of a driver, corrects the target braking/driving forces so that a difference between vertical forces acting on the wheels caused by the braking/driving forces of the pair of wheels is reduced, and controls the braking/driving device such that braking/driving forces of the pair of wheels becomes the corrected target braking/driving forces.

A method for a steering control of a vehicle to improve steering restoration when the vehicle escapes from a turn path via acceleration during high-speed turning. The vehicle steering control method includes determining whether or not a vehicle is rapidly accelerating in a high-speed turning state, and providing a restoration compensation torque in a vehicle steering restoration direction using a steering motor when it is determined that the vehicle is rapidly accelerating in the high-speed turning state. In particular, the restoration compensation torque is determined based on a relationship of a steering torque, a wheel speed, a number of revolutions of an engine, and a steering angular speed of the vehicle.

A braking control device includes a first control unit configured to execute first control for reducing a target braking force, which is either a front-wheel braking force to be applied to front wheels of a vehicle or a rear-wheel braking force to be applied to rear wheels during increasing of deceleration of the vehicle, in a case that a behavior of the vehicle is unstable as the target braking force is increased; and a second control unit configured to execute second control for reducing a rate of increase in the target braking force and increasing a rate of increase in the front-wheel braking force or the rear-wheel braking force, which is not the target braking force, prior to execution of the first control.

A vehicle stability control system and a vehicle stability control method which are capable of more improving lateral stability of a vehicle when the vehicle is turning on a descent inclined road, may enable the vehicle to turn along a turning trace intended by a driver through cooperative control of active front steering (AFS) control and an electronic stability control (ESC) when the vehicle is turning on the descent inclined road.

A braking force control system is configured to, when a vehicle is decelerated by driving support control, on an assumption that a predetermined deceleration is generated in the vehicle, set a distribution ratio between a braking force that is applied to a front wheel and a braking force that is applied to a rear wheel such that a degree of a specific position in which a front of the vehicle is lower than a rear of the vehicle is not greater than a predetermined degree.

A controller for a vehicle, a system, a vehicle, a method, a computer program and a non-transitory computer-readable storage medium are disclosed. The controller is configured to receive an indication of a measured speed of the vehicle, and determine whether a gradient on which the vehicle is located is below a threshold gradient. The controller is also configured to provide an output signal to cause a brake of the vehicle to be automatically applied to hold the vehicle stationary, in dependence on: the received indication of the measured speed of the vehicle being below a threshold speed; and the determination that the gradient is below the threshold gradient.

A method for operating a motor vehicle, which is equipped with a plurality of wheels and with a plurality of electric machines. Each electric machine can be coupled to at least one wheel and be operated in a plurality of operating modes. The respective electric machines perform rotations in a first engine operating mode in a first direction of rotations. Electric energy is converted to mechanical energy. The at least one wheel is rotated in a forward direction, whereby the vehicle is driven with the at least one wheel. The respective electric machines perform rotations in a second generator operating mode in a second direction of rotations, which is opposite to the first direction of rotations, whereby electric energy is converted to mechanical energy.