A limited slip differential (LSD) transfers a torque from an engine to left and right wheels of a vehicle. A current angle of a steering device is determined. Rotational speeds of 5 the left and right driven wheels are also determined. A current wheel slip of is calculated as a difference between the rotational speeds of the left and right wheels. Maximum and minimum allowed wheel slips are calculated as a function of the current steering angle. The LSD is controlled so that the current wheel slip stays in a range between the maximum and minimum allowed wheel slips. To this end, the LSD is loaded if the wheel slip falls outside of the range 0 between the maximum and minimum allowed wheel slips.

A vehicle includes driving wheels, driven wheels, a drive device connected to a drive shaft, a drive force distribution device, and an electronic control unit configured to execute a moderate change process on a required torque required for the drive shaft to set a target torque to be output to the drive shaft when the torque output to the drive shaft changes and crosses a value of zero. The electronic control unit is configured to control the drive device such that the target torque is output to the drive shaft, and set the target torque such that a change in the target torque with respect to a change in the required torque is more moderate when the driving side distribution ratio is small compared with the change in the target torque with respect to the change in the required torque when the driving side distribution ratio is large.

A vehicle includes driving wheels, driven wheels, a drive device connected to a drive shaft, a drive force distribution device, and an electronic control unit configured to execute a moderate change process on a required torque required for the drive shaft to set a target torque to be output to the drive shaft when the torque output to the drive shaft changes and crosses a value of zero. The electronic control unit is configured to control the drive device such that the target torque is output to the drive shaft, and set the target torque such that a change in the target torque with respect to a change in the required torque is more moderate when the driving side distribution ratio is small compared with the change in the target torque with respect to the change in the required torque when the driving side distribution ratio is large.

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.

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.

An alternative traction control system, in addition to a primary traction control system, is associated with an agricultural machine in which a user selectable input can allow wheels of an the agricultural machine to spin freely, such as for clearing debris from tires, until a predetermined deactivate condition occurs. Such a deactivate condition could comprise, for example, reaching a maximum rotation speed and/or temperature threshold with respect to a wheel. To minimize the risk of damage to propulsion components which may be caused by excessive rotation speeds and/or temperatures, upon reaching such a threshold, operation can return from the alternative traction control system to the primary traction control system. Such a system can therefore allow an on the fly change that would permit an operator to selectively spin the tires without damaging mechanical aspects of the agricultural machine.

An alternative traction control system, in addition to a primary traction control system, is associated with an agricultural machine in which a user selectable input can allow wheels of an the agricultural machine to spin freely, such as for clearing debris from tires, until a predetermined deactivate condition occurs. Such a deactivate condition could comprise, for example, reaching a maximum rotation speed and/or temperature threshold with respect to a wheel. To minimize the risk of damage to propulsion components which may be caused by excessive rotation speeds and/or temperatures, upon reaching such a threshold, operation can return from the alternative traction control system to the primary traction control system. Such a system can therefore allow an on the fly change that would permit an operator to selectively spin the tires without damaging mechanical aspects of the agricultural machine.

It is determined whether chargeable and dischargeable electric power of a battery which is a power storage device are limited. When it is determined that the chargeable and dischargeable electric power of the battery is limited, an electric power balance target value of the battery during gear shifting control in a stepped gear shifting unit which is a mechanical gear shifting mechanism is calculated. A smaller value is calculated as a change rate limit value when the chargeable and dischargeable electric power is small than when the chargeable and dischargeable electric power is great, and the calculated change rate limit value is used to perform gear shifting control in the stepped gear shifting unit.

It is determined whether chargeable and dischargeable electric power of a battery which is a power storage device are limited. When it is determined that the chargeable and dischargeable electric power of the battery is limited, an electric power balance target value of the battery during gear shifting control in a stepped gear shifting unit which is a mechanical gear shifting mechanism is calculated. A smaller value is calculated as a change rate limit value when the chargeable and dischargeable electric power is small than when the chargeable and dischargeable electric power is great, and the calculated change rate limit value is used to perform gear shifting control in the stepped gear shifting unit.

A utility vehicle includes a stack sensor for detecting whether a stack has occurred in a vehicle, and a controller. When a differential device is in an open state, the controller determines the presence or absence of a stack based on a detection result by the stack sensor. When it is determined that a stack has occurred, the controller activates the brake device to reduce a rotation speed of a stack wheel, which is a wheel idling due to the stack.