A vehicle control device configured to control switching of drive mode of a vehicle including an internal combustion engine and a motor includes a processor configured to switch, in a case where a road surface of a perimeter of a geofencing zone is a road surface on which there is a high probability that the vehicle slips, in a movement route from an outside of the geofencing zone to an inside of the geofencing zone, the drive mode of the vehicle to drive by the motor in a state in which there is a low probability that the vehicle slips, outside the geofencing zone.

A vehicle body speed estimation method applied to a four-wheel drive vehicle includes: acquiring an estimated vehicle body speed based on wheel speeds or a longitudinal acceleration of the vehicle; determining whether an operation condition that includes at least a condition that the estimated vehicle body speed is higher than an operation determination speed is satisfied; performing torque limitation to reduce a torque of a portion of wheels of the vehicle when the operation condition is satisfied; determining whether a stop condition that includes a condition that the estimated vehicle body speed is lower than or equal to a stop determination speed or a condition that a duration of a state where a wheel acceleration of the portion of the wheels is higher than zero is longer than or equal to a set period of time; and stopping the torque limitation when the stop condition is satisfied.

An apparatus and a method for controlling an autonomous vehicle depending on weather are provided. The apparatus obtains information including at least one of an image around the autonomous vehicle, sensing information of a Light Detection and Ranging (LiDAR) of the autonomous vehicle, sensing information of a rain sensor of the autonomous vehicle, an operation state of a windshield wiper of the autonomous vehicle, climate information through vehicle to everything (V2X) communication, an acceleration of the autonomous vehicle, or wheel sensor information of the autonomous vehicle and determines whether the climate state is an inclement weather state, based on the information including the at least one of the image around the autonomous vehicle, the sensing information of the LIDAR, the sensing information of the rain sensor, the operation state of the windshield wiper, the climate information through the V2X communication, the acceleration, or the wheel sensor information.

A method of controlling braking when steering an in-wheel motor vehicle includes monitoring a required tire rotation angle for each steering angle and an actual tire rotation angle when performing cooperative control of an in-wheel motor for reducing a steering load, and generating a vehicle braking force in a case where the actual tire rotation angle exceeds the required tire rotation angle, thereby easily preventing a vehicle-skidding phenomenon.

A determining method for determining a state of a road surface includes: sequentially acquiring a rotational speed of tires mounted on the vehicle, sequentially acquiring a driving force of the vehicle, calculating a slip ratio based on the sequentially acquired rotational speed of the tires, calculating a regression equation and a confidence interval width for a relationship between the slip ratio and the driving force, based on data sets of the slip ratio and the driving force in a predetermined zone, and determining a state of the road surface on which the vehicle travels, based on the confidence interval width calculated for the predetermined zone.

The present invention provides a vehicle control apparatus, a vehicle control method, and a vehicle control system capable of optimizing balance between a target tire lateral force and a target tire longitudinal force. A vehicle control apparatus outputs an instruction for achieving an optimal slip ratio corresponding to a minimum value of a sum of a first difference and a second difference to an actuator regarding braking/driving of a vehicle. The first difference is a difference between a tire lateral force and a target tire lateral force with respect to an arbitrary slip ratio in a correlative relationship between a slip ratio and the tire lateral force of a tire of a wheel portion. The second difference is a difference between a tire longitudinal force and a target tire longitudinal force with respect to the arbitrary slip ratio in a correlative relationship between the slip ratio and the tire longitudinal force.

A vehicle slip control apparatus to be installed in a vehicle including a drive source configured to output power to a driving wheel of the vehicle and a gear pair interposed between an output shaft of the drive source and the driving wheel includes a rotating speed detector, a slip determination unit, and a slip determination prohibition unit. The rotating speed detector is configured to detect a rotating speed of the output shaft. The slip determination unit is configured to determine, when an absolute value of an angular acceleration of the rotating speed detected by the rotating speed detector exceeds a set threshold, that the driving wheel is in a slip state. The slip determination prohibition unit is configured to prohibit the determination by the slip determination unit until a predetermined time elapses after a direction of torque outputted from the drive source is inverted.

Systems and methods are provided herein for operating a vehicle in a vehicle yaw mode. In response to initiating vehicle yaw mode, the system engages an open-loop mode, that provides open-loop forward torque to the outer wheels of the vehicle and open-loop backward torque to the inner wheels of the vehicle until a sufficient number of wheels are slipping. In response to determining that a sufficient number of wheels are slipping, engaging a closed-loop mode. While operating in the closed-loop mode, one or both of the wheel rotation and vehicle yaw rate are monitored to adjust the torques provided to the wheels of the vehicle to control the vehicle yaw rate.

The present disclosure relates to a method for driving on the basis of characteristics of a driving surface, and a robot for implementing the same, and a method for driving on the basis of characteristics of a driving surface, according to one embodiment of the present disclosure, comprises the steps in which: a sensing module of the robot senses an adjacent driving surface to generate characteristic information of the driving surface, and a control unit of the robot stores position and characteristic information of the driving surface in a map storage of the robot; the controller of the robot sets a function to be applied to the driving surface in response to the characteristic information of the driving surface, or generates a movement path selectively including the driving surface corresponding to start and end points of the robot; and the controller controls a moving unit and a functional unit of the robot according to the set function or the movement path.

An arithmetic model generation system includes a sensor information acquisition unit, a tire force calculator, and an arithmetic model update unit. The sensor information acquisition unit acquires acceleration of a tire. The tire force calculator includes an arithmetic model for calculating tire force F based on the acceleration, and calculates the tire force F by inputting the acceleration acquired by the sensor information acquisition unit. The arithmetic model update unit compares tire axial force measured by the tire and the tire force F calculated by the tire force calculator, and updates the arithmetic model.