Methods and systems are described for controlling a vehicle braking system. A braking force is applied to the vehicle by applying friction only braking to the wheels of one axle and applying a blended braking force (including a regenerative braking force and a friction braking force) to the wheels of another axle. Using vehicle and tire modeling techniques, a set of side-slip angles is calculated that is estimated to occur if the total braking force were applied using only friction braking. A compensatory yaw moment is then determined based on differences between the estimated side-slip angles and the actual side-slip angles of the vehicle under the blended braking. The compensatory yaw moment is then applied to the vehicle to enable the vehicle to utilize regenerative braking while exhibiting the same vehicle dynamics that occur when using friction braking only.

Provided is a vehicle that can improve vehicle posture control or operation performance during accelerating turn. A vehicle is provided with: a left drive wheel and a right drive wheel connected to a motor; a required drive power amount input device for inputting a required drive power amount; and a required turn amount input device for inputting a required turn amount. The vehicle further includes a turn control device that adjusts a power difference between the left drive wheel and the right drive wheel on the basis of a time derivative value of the required drive power amount in addition to the required turn amount.

Methods and systems are provided for controlling a component of a vehicle. In one embodiment, a method includes: receiving sensor data sensed from the vehicle; processing the sensor data to determine an ideal state of the vehicle; processing the sensor data and the ideal state of the vehicle to determine a feasible state of the vehicle; and selectively controlling at least one component associated with at least one of an active safety system and a chassis system of the vehicle based on the at least one feasible state.

A vehicle behavior stabilization system includes a yaw moment applying device configured to apply a yaw moment to the vehicle, a vehicle behavior stabilization control unit configured to selectively control the yaw moment applying device in such a way to stabilize a vehicle behavior according to a computed rear wheel slip angle in relation to a start threshold value and an end threshold value, and a threshold value correcting unit configured to correct the start threshold value and the end threshold value according to a change rate of the computed rear wheel slip angle and/or a change rate of a computed vehicle body slip angle.

A system and method for preventing instability of a vehicle due to regenerative braking of a rear wheel are provided, which previously reduce a regenerative braking amount, thus securing vehicle stability and updating a regenerative brake map according to a braking situation, may include a first controller configured of distributing braking torque of front and rear wheels for a deceleration level according to a basic regenerative braking distribution ratio on a regenerative brake map on the basis of a driver demand braking amount, and configured of previously reducing a rear-wheel regenerative braking torque of the rear wheel to a first reference value or less than the first reference value in an adjustment section between first and second deceleration; and a second controller connected to the first controller and configured of further reducing the rear-wheel regenerative braking torque to transmit it to the first controller, if a wheel slip value is greater than a reference slip value according to vehicle driving information during braking of the vehicle.

In various examples, activation criteria and/or braking profiles corresponding to automatic emergency braking (AEB) systems and/or collision mitigation warning (CMW) systems may be determined using sensor data representative of an environment to a front, side, and/or rear of a vehicle. For example, activation criteria for triggering an AEB system and/or CMW system may be adjusted by leveraging the availability of additional information with regards to the surrounding environment of a vehicle—such as the presence of a trailing vehicle. In addition, the braking profile for the AEB activation may be adjusted based on information about the presence of and/or location of vehicles to the front, rear, and/or side of the vehicle. By adjusting the activation criteria and/or braking profiles of an AEB system, the potential for collisions with dynamic objects in the environment is reduced and the overall safety of the vehicle and its passengers is increased.

In motion control in the present invention, operation amounts relating to braking and drive are set as a control command when a difference between a physical quantity relating to a target vehicle attitude which is based on a target trajectory and a physical quantity relating to a linear model vehicle attitude which is based on a linear model of a vehicle exceeds a threshold value, operation amounts relating to braking and steering are set as the control command when the difference is equal to or smaller than the threshold value, and an attitude of the vehicle in a yaw direction is controlled based on the control command.

Methods and systems are provided for inducing vehicle side slip. In one example, a method includes opening a sole driveline disconnect clutch positioned between an engine and an electric machine upstream of a transmission, and closing the sole driveline disconnect clutch within a predetermined amount of time after opening the sole driveline disconnect without shifting gears of the transmission. In this way, vehicle drift may be reliable initiated in a hybrid electric vehicle with an automatic transmission, without shifting gears of the transmission.

A drive assistance device (24) for a saddle type vehicle (1) includes a ride sensor (37) configured to detect a ride attitude of a rider (J), a vehicle body behavior generating part (25) configured to generate a behavior on a vehicle body by a prescribed output, and a controller (27) configured to control driving of the vehicle body behavior generating part (25), the vehicle body behavior generating part (25) includes a brake device (BR) configured to brake a host vehicle, and wherein, when the brake device (BR) is actuated regardless of an operation of the rider (J), the controller (27) actuates the brake device (BR) according to the ride attitude of the rider (J) detected by the ride sensor (37).

A slip angle estimation device for a vehicle comprises an imaging device for capturing an image of at least one of the front and the rear of the vehicle and a control unit. The imaging device is a CCD camera including a lens and an imaging sensor. The control unit is configured to determine a plurality of tracking points for a plurality of captured objects, determine an optical flow for the plurality of tracking points based on two images captured at predetermined elapsed time intervals, determine a vanishing point based on intersections of the plurality of optical flows, and calculate a slip angle of the vehicle based on a ratio of a horizontal distance between an image center and the vanishing point to a distance between a lens center of the CCD camera and an imaging sensor.