An electrically controlled differential gear is disposed between a right front wheel and a left front wheel of a vehicle. The electrically controlled differential gear includes a clutch mechanism that limits a differential operation of the electrically controlled differential gear. A second ECU (control portion) obtains information as to failure associated with actuation of a right front electric brake mechanism. The second ECU obtains a physical amount relating to a required braking force which is applied to the left front wheel and the right front wheel. The second ECU outputs a differential limiting control command for limiting the differential operation of the electrically controlled differential gear to the clutch mechanism (or more specifically, a differential ECU that controls the clutch mechanism) based on the information as to the failure and the physical amount relating to the required braking force.

A vehicle control device for a hybrid vehicle includes: an engine and an electric motor; a transaxle including a power transmission path connecting the engine and the electric motor with a driving wheel; a temperature detection unit configured to detect a temperature of the transaxle; and a control unit configured to switch between a series operation mode in which the electric motor is driven for traveling by electric power generated by rotation of the engine and a parallel operation mode in which the engine and the electric motor are driven for traveling. When the temperature of the transaxle is equal to or higher than a first predetermined temperature, the control unit performs a first control of giving priority to the traveling in the parallel operation mode.

A vehicle control device for a hybrid vehicle includes: an engine and an electric motor; a transaxle including a power transmission path connecting the engine and the electric motor with a driving wheel; a temperature detection unit configured to detect a temperature of the transaxle; and a control unit configured to switch between a series operation mode in which the electric motor is driven for traveling by electric power generated by rotation of the engine and a parallel operation mode in which the engine and the electric motor are driven for traveling. When the temperature of the transaxle is equal to or higher than a first predetermined temperature, the control unit performs a first control of giving priority to the traveling in the parallel operation mode.

A braking force controller causes a first actuator unit to generate a target jerk when the target jerk is equal to or larger than a first jerk, causes the first actuator unit to generate the first jerk and a second actuator unit to generate a jerk obtained by subtracting the first jerk from the target jerk as an additional jerk when the target jerk is smaller than the first jerk and equal to or larger than the sum of the first jerk and a second jerk, and causes the first actuator unit to generate the first jerk and the second actuator unit to generate the second jerk as the additional jerk when the target jerk is smaller than the sum of the first jerk and the second jerk.

A multi-processor architecture for automated driving systems can be used to improve performance and provide design flexibility. For example, a multi-processor architecture can be used to implement command generation and safety functionality in different processors. The command generation processor can be a high performing processor compared with the safety processor. The safety processor can verify the safety of commands output from the command generation processor and provide additional I/O channels that are typically absent on high performing processors. Additionally, processing of some sensor data can be moved to expansion modules with additional processors to reduce bottlenecks and provide design flexibility for systems with different sensing requirements.

A multi-processor architecture for automated driving systems can be used to improve performance and provide design flexibility. For example, a multi-processor architecture can be used to implement command generation and safety functionality in different processors. The command generation processor can be a high performing processor compared with the safety processor. The safety processor can verify the safety of commands output from the command generation processor and provide additional I/O channels that are typically absent on high performing processors. Additionally, processing of some sensor data can be moved to expansion modules with additional processors to reduce bottlenecks and provide design flexibility for systems with different sensing requirements.

A vehicle has an engine, an accelerator control, a limited slip differential (LSD) mounted on an axle driven by the engine, and left and right wheels operably connected to the LSD. An accelerator control position is sensed. A speed of the vehicle is optionally sensed. In order to prevent wheel spin, a high load is selectively applied to the LSD when the accelerator control position meets or exceeds a predetermined position threshold. Optionally, application of the high load may depend on the speed of the vehicle being less than a predetermined speed threshold, the accelerator control position concurrently meeting or exceeding the predetermined position threshold. In order to enhance directional stability of the vehicle, a stabilization load is optionally applied when the speed of the vehicle meets or exceeds the predetermined speed threshold.

An electric-axle device for a commercial vehicle that can minimize the frequency of using a main brake when braking, may include a first clutch device disposed between a motor and a differential casing to transmit or block power, a second clutch device disposed between the differential casing and a disc, an electromagnetic brake applying a braking force to the disc, and that can increase a coasting distance and improve energy efficiency and durability of the motor by disengaging the first clutch device and the second clutch device such that kinetic energy, which is transmitted to the motor from an axle shaft, is blocked as if a neutral gear of a transmission is engaged, when the vehicle coasts.

When temperature of a second power source of a vehicle becomes higher than a threshold value during a first mode in which three rotating elements of a differential gear can make differential movement and when four-wheel drive is needed, switching is performed to a second mode in which the three rotating elements are unified, and when four-wheel drive is not needed even when the temperature of the second power source becomes higher than the threshold value during the first mode, output of the second power source is restricted, while the first mode is maintained.

In a hybrid vehicle including an engine, a first motor, a differential unit, a second motor, a driving force split device, and a controller, the controller is configured to control the engine, the first motor, and the second motor such that the hybrid vehicle travels with the engine rotating within a range of an allowable maximum rotational speed for control or less. In this case, the controller is configured to set the allowable maximum rotational speed such that the allowable maximum rotational speed is higher when a main-side ratio is lower than when the main-side ratio is higher. The main-side ratio is a ratio of a driving force that is transmitted to main drive wheels to the total driving force that is transmitted from a drive shaft to the main drive wheels and sub drive wheels via the driving force split device.