The technology employs a variable motion control envelope that enables an on-board computing system of a self-driving vehicle to estimate future vehicle driving behavior along an upcoming path, in order to maintain a desired amount of control during autonomous driving. Factors including intrinsic vehicle properties, extrinsic environmental influences and road friction information are evaluated. Such factors can be evaluated to derive an available acceleration model, which defines an envelope of maximum longitudinal and lateral accelerations for the vehicle. This model, which may identify dynamically varying acceleration limits that can be affected by road conditions and road configurations, may be used by the on-board control system (e.g., a planner module of the processing system) to control driving operations of the vehicle in an autonomous driving mode.

An anticipating module for a device for controlling, in real time, the path of a motor vehicle includes a sub-module for computing a turning command for compensating for the curvature of a bend in the lane of the vehicle and a variable-gain device that is connected to an output of the computing sub-module. The gain of the variable-gain device is connected to a controller to adjust the gain so as to decrease the lateral offset between the centre of gravity of the vehicle and the centre of the lane of the vehicle depending on the result of the comparison of components of a vector of current measurements of state variables of the device to one another and to a detection threshold, the output of the variable-gain device being the steering command for compensating for the curvature of the bend.

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 method for determining the values of parameters for a controller of a vehicle, wherein respective error measures are calculated for different sets of values and a set of values is selected based on the error measures.

An anticipating module for a device for controlling, in real time, the path of a motor vehicle includes a sub-module for computing a turning command for compensating for the curvature of a bend in the lane of the vehicle and a variable-gain device that is connected to an output of the computing sub-module. The gain of the variable-gain device is connected to a controller to adjust the gain so as to decrease the lateral offset between the centre of gravity of the vehicle and the centre of the lane of the vehicle depending on the result of the comparison of components of a vector of current measurements of state variables of the device to one another and to a detection threshold, the output of the variable-gain device being the steering command for compensating for the curvature of the bend.

A vehicle stability control method and a vehicle stability control device are provided. The method may be applied to an intelligent automobile field such as intelligent driving or autonomous driving, and is used to control lateral stability of a front axis and rear axis distributed driven vehicle. In this method, a yawing movement of the vehicle is considered, and an additional yawing moment for maintaining lateral stability of the vehicle is provided by compensating for front-axis and rear-axis slip ratios, to control lateral stability of the vehicle and therefore improve stability of the vehicle during driving.

A controller and a method for controlling motion of a vehicle is provided. The method comprises acquiring motion information including a current state of the vehicle and a desired state of the vehicle, determining a combination of a steering angle of the wheels and motor forces for moving the vehicle from the current state into the desired state by using a first model of the motion of the vehicle and a second model of the motion of the chassis of the vehicle, determining a cost function of the motion of the vehicle, optimizing the cost function of the motion of the vehicle to compute a command signal for controlling the steering wheel and the plurality of electric motors, and controlling the steering angle of the wheels and the motor forces based on the command signal.

Provided is a vehicle posture control device configured to be installed in a vehicle provided with an actuator configured to generate a roll moment. The device includes a roll moment calculator (24) and an actuator controller (25). The roll moment calculator (24) is configured to calculate a roll moment command value to control the actuator such that a roll motion is generated in conjunction with a yaw motion in the vehicle (1) during turning thereof. The roll moment calculator (24) is configured to calculate the roll moment command value for output, on the basis of a sideslip angular velocity and a vehicle velocity of the vehicle. The actuator controller (25) is configured to control the actuator by using the calculated roll moment command value.

An axle torque distribution system includes a memory and a control module. The memory stores a steering angle and a toque distribution algorithm. The control module executes the torque distribution algorithm to: obtain the steering angle; based on the steering angle, determine total lateral force requested for axles of a vehicle; based on the total lateral force requested, determine lateral forces requested for the axles while constraining lateral force distribution between the axles, where the constraining of the lateral force distribution includes, based on maximum lateral force capacities of tires of the vehicle, limiting the lateral forces requested for the axles; determine available longitudinal capacities for the axles based on the lateral forces requested respectively for the axles; determine torque capacities of the axles based on the lateral forces requested respectively for the axles; and control distribution of torque to the axles based on the torque capacities of the axles.