A vehicle includes a brake device, a suspension, and an electronic control unit configured to: control the brake device such that, in at least a part of a first range being a required deceleration range lower than a lower limit value of a vehicle deceleration perceivable by a person in the vehicle, a front-rear distribution ratio is constant regardless of the vehicle deceleration, and, in a second range in which the vehicle deceleration is higher than that in the first range, the front-rear distribution ratio is biased toward a rear wheel than in the first range; and in a specific deceleration range including the second range and higher than the first range, execute at least one of reducing a compression-side damping force of a front wheel damper compared with the first range and increasing an extension-side damping force of a rear wheel damper compared with the first range.

It is an object of the present invention to improve accuracy in estimation of a state of a vehicle in order to achieve excellent ride comfort. An ECU (600) includes a reference vehicle model computation section (1100), which is configured to calculate a reference output by carrying out computation with respect to at least one of a plurality of state amounts in a planar direction and at least one of a plurality of state amounts in an up-down direction in an inseparable manner.

It is an object of the present invention to improve accuracy in estimation of a state of a vehicle in order to achieve excellent ride comfort. An ECU (600) includes a reference vehicle model computation section (1100), which is configured to calculate a reference output by carrying out computation with respect to at least one of a plurality of state amounts in a planar direction and at least one of a plurality of state amounts in an up-down direction in an inseparable manner.

A parking assist system includes: a control device configured to execute a driving process for autonomously moving a vehicle to a target position; a steering operation member configured to receive a steering operation performed by an occupant; a vehicle state detecting device; and a notification device configured to make a notification to the occupant. In the driving process, the control device executes vehicle speed control and steering control. When, during execution of the driving process, the control device determines that the vehicle is a suspension state in which the driving process should be temporarily suspended, the control device causes the notification device to output a prescribed notification and executes a suspension process. In the suspension process, the control device executes the vehicle speed control to stop the vehicle and stops the steering control.

A parking assist system includes: a control device configured to execute a driving process for autonomously moving a vehicle to a target position; a steering operation member configured to receive a steering operation performed by an occupant; a vehicle state detecting device; and a notification device configured to make a notification to the occupant. In the driving process, the control device executes vehicle speed control and steering control. When, during execution of the driving process, the control device determines that the vehicle is a suspension state in which the driving process should be temporarily suspended, the control device causes the notification device to output a prescribed notification and executes a suspension process. In the suspension process, the control device executes the vehicle speed control to stop the vehicle and stops the steering control.

A system for controlling one or more functions of a vehicle responsive to a cognitive state of a vehicle user comprises one or more controllers configured to receive cognitive state data indicative of a cognitive state of the user of the vehicle and context data indicative of a context of one or both of the user and the vehicle. The one or more controllers are configured to control the one or more functions of the vehicle in dependence on the received indication of the cognitive state of the user and the context data. The controllers are configured to output control data for controlling the one of more functions of the vehicle.

A system for controlling one or more functions of a vehicle responsive to a cognitive state of a vehicle user comprises one or more controllers configured to receive cognitive state data indicative of a cognitive state of the user of the vehicle and context data indicative of a context of one or both of the user and the vehicle. The one or more controllers are configured to control the one or more functions of the vehicle in dependence on the received indication of the cognitive state of the user and the context data. The controllers are configured to output control data for controlling the one of more functions of the vehicle.

A control unit arranged to monitor a load distribution of a vehicle when the vehicle is in motion, the control unit comprising an interface arranged to receive a plurality of load values associated with one or more vehicle axles and/or one or more vehicle wheels from a plurality of load sensors arranged on the vehicle, wherein the control unit is arranged to determine a vehicle load distribution based on the plurality of load values, to compare the determined vehicle load distribution to a pre-determined allowable vehicle load distribution, and to trigger an emergency procedure in case the determined vehicle load distribution differs from the pre-determined vehicle load distribution by more than an allowable amount.

A control unit arranged to monitor a load distribution of a vehicle when the vehicle is in motion, the control unit comprising an interface arranged to receive a plurality of load values associated with one or more vehicle axles and/or one or more vehicle wheels from a plurality of load sensors arranged on the vehicle, wherein the control unit is arranged to determine a vehicle load distribution based on the plurality of load values, to compare the determined vehicle load distribution to a pre-determined allowable vehicle load distribution, and to trigger an emergency procedure in case the determined vehicle load distribution differs from the pre-determined vehicle load distribution by more than an allowable amount.

Method for updating at least one vehicle model parameter and at least one tire parameter in at least one chassis control unit of a vehicle, based on tire sensor information collected by a tire sensor placed on a tire. The method includes the steps of: collecting tire sensor information; updating the at least one vehicle model parameter based on updating at least one tire parameter, updating one tire parameter being based on the tire sensor information.