A method for identifying a longitudinal jerking of a motor vehicle is provided, wherein a wheel speed of a driven wheel and a wheel speed of a non-driven wheel are recorded and wherein the longitudinal jerking of the motor vehicle is detected on the basis of a change in the measured wheel speeds. The detection of the longitudinal jerking is improved by comparing the change in the wheel speed of the driven wheel with the change in the wheel speed of the non-driven wheel in order to detect a longitudinal jerking as a result of a vibration stimulation in the drive train.

Methods, apparatuses and computer program products for estimating absolute wheel roll radii and/or a vertical compression value of wheels of a vehicle are disclosed, wherein yaw rates of the vehicle, wheel speeds of first and second wheels, and optionally lateral acceleration of the vehicle are measured and used as a basis for the estimation.

The disclosure relates to a method for controlling a road finishing machine with a material bunker for receiving paving material, a screed for compressing the paving material, a drivable rear wheel and a drivable front wheel. A rotational speed of the rear wheel of the road finishing machine is measured. Moreover, a travel speed of the road finishing machine is measured. A target driving torque of the front wheel of the road finishing machine is calculated based on the measured rotational speed of the rear wheel and the measured travel speed of the road finishing machine. Then, an actual driving torque of the front wheel is adjusted to the calculated target driving torque. The disclosure also relates to a road finishing machine.

The present disclosure discloses an electric vehicle, an active safety control system of an electric vehicle, and a control method of the active safety control system of an electric vehicle. The electric vehicle includes: multiple wheels, multiple motors, a wheel speed detection module, a steering wheel rotation angle sensor, a yaw rate sensor, and a battery pack. The active safety control system includes: an acquisition module, acquiring the wheel speed signal, the direction information, the yaw information, status information of the battery pack, and status information of the multiple motors; a status determining module, determining status of the electric vehicle; and a control module, generating a control instruction and delivering the control instruction to at least one motor.

The present disclosure provides a fault-tolerant tracking control method of a four-wheel distributed electric drive autonomous vehicle. The method depends on a typical four-wheel distributed electric drive vehicle structure, comprising: first, realizing real-time acquisition of an output torque and a fault coefficient of a hub motor through each vehicle-mounted sensor and each parameter observer; then determining whether the vehicle power system enters a fault state, and if the hub motor is in the fault state, entering a set fault-tolerant tracking link; and judging the fault mode of the current vehicle, using different control logics for different fault modes, and finally realizing fault-tolerant control or emergency risk avoiding of the vehicle. According to the present disclosure, aiming at different fault conditions of a power system of the distributed electric drive autonomous vehicle, different coping modes and control strategies are used for guaranteeing the stability and safety of the vehicle as much as possible, and the safety of passengers and goods is guaranteed.

Method for the estimation of at least a variable (β; ν.sub.x, ν.sub.y; ψ, μ) affecting a vehicle dynamics (10), including measuring dynamic variables (MQ) of the vehicle (10) during its motion, calculating in real time an estimate (Formula (I)) of said variable (β; ν.sub.x, ν.sub.y; ψ, μ), on the basis of said measured dynamic variables (MQ), The method includes: calculating (230) said estimate of said at least a variable (β; ν.sub.x, ν.sub.y; ψ, μ) by an estimation procedure (DVS.sub.β; DVS.sub.βν; DVS.sub.βνμ) comprising taking in account a set of dynamic variables (MQ) measured during the motion of the vehicle (10) over respective time intervals (n.sub.y, n.sub.w, n.sub.ψ, n.sub.x, n.sub.α) and applying on said set of measured dynamic variables (MQ) at least an optimal nonlinear regression function (ƒ*.sub.β; ƒ*.sub.x, ƒ*.sub.y; ƒ*.sub.β1, ƒ*.sub.β2, ƒ*.sub.ψ1, ƒ.sub.ψ2) calculated with respect to said variable (β; ν.sub.x, ν.sub.y; ψ, μ) to estimate to obtain said estimate of said variable (β; ν.sub.x, ν.sub.y; ψ, μ), said optimal non linear regression function (ƒ*.sub.β; ƒ*.sub.x, ƒ*.sub.y; ƒ*.sub.β1, ƒ*.sub.β2, ƒ*.sub.ψ1, ƒ*.sub.ψ2) being obtained by an optimal calculation procedure (220) including: on the basis of an acquired set of reference data (D.sub.d) and of said set of dynamic variables (MQ) measured during the motion of the vehicle (10), finding, for a desired accuracy level (ε), a regression function (ƒ*.sub.β; ƒ*.sub.x, ƒ*.sub.y; ƒ*.sub.β1, ƒ*.sub.β2, ƒ*.sub.ψ1, ƒ*.sub.ψ2) giving an estimation error lower or equal than said desired accuracy level (ε) in a given set of operative conditions (OC), said acquired set of reference data (D.sub.d) being obtained by acquiring (210) in said given set of operative conditions (OC) a set of reference data (D.sub.d) of variables including variables corresponding to said measured dynamic variables (MQ) of the vehicle (10) and a lateral (v.sub.y) and a longitudinal velocity (v.sub.x) of the vehicle (10).

Methods and systems are provided for updating a relevant vehicle parameter in a vehicle so as to improve accuracy of a vehicle velocity determination. In one example, a method comprises integrating signals of a longitudinal acceleration sensor to obtain a first vehicle velocity and obtaining a second vehicle velocity from a wheel speed sensor between a first and a second reference point, and updating the relevant vehicle parameter as a function of a difference between a slope associated with the first vehicle velocity and another slope associated with the second vehicle velocity. In this way, accuracy of vehicle speed determination via one or more wheel speed sensors may be improved.

An electric suspension control, in a vehicle including an electric suspension apparatus driven with a motor, short-circuits the motor and limits a vehicle speed to a predetermined speed or less, in a case where an abnormality occurs in the electric suspension apparatus.

A turning control system of a vehicle includes: a database storing road information; a sensor part to detect a steering angle of a vehicle, a wheel speed of the vehicle, whether the vehicle is accelerated, whether the vehicle is braking, and whether a speed gear of the vehicle is shifted; and a controller that determines whether the vehicle enters a turning section based on one or more pieces of the information detected by the sensor part and the road information stored in the database. In particular, when the vehicle is entering the turning section, the controller sets a target speed of the vehicle and controls a speed of the vehicle to be decelerated to the set target speed.

Provided is a vehicle that can improve vehicle posture control or operation performance during accelerating turn. A vehicle is provided with: a left drive wheel and a right drive wheel connected to a motor; a required drive power amount input device for inputting a required drive power amount; and a required turn amount input device for inputting a required turn amount. The vehicle further includes a turn control device that adjusts a power difference between the left drive wheel and the right drive wheel on the basis of a time derivative value of the required drive power amount in addition to the required turn amount.