A method of controlling launch of a vehicle may include checking a start condition of the vehicle by a controller, determining whether only predetermined launch creep control torque is set as additional torque or whether the launch creep control torque and predetermined launch pre control torque are set together as the additional torque according to whether an accelerator pedal is manipulated when the start condition is satisfied, by the controller, setting the additional torque by adding launch slip control torque determined in consideration of a wheel speed difference between opposite driving wheels to the additional torque upon determining that the wheel speed difference is greater than a predetermined reference wheel speed, by the controller, and controlling an electric limited slip differential (eLSD) using the set additional torque, by the controller.

A method for estimation of a vehicle tire force includes: receiving, by a controller of a vehicle, a measured vehicle acceleration of the vehicle; receiving, by the controller, a measured wheel speed and a measured yaw rate of the vehicle; forming, by the controller, inertia matrices based on an inertia of rotating components of the vehicle; calculating torques at corners of the vehicle using the inertia matrices; estimating tire forces of the vehicle based on the measured vehicle acceleration, the measured wheel speed, and the inertia matrices; and controlling, by the controller, the vehicle, based on the plurality of estimated longitudinal and lateral tire forces.

A vehicle includes a powerplant, a front axle having first and second wheels and a differential operably coupled to the powerplant. A power-takeoff unit (PTU) is connected to the differential. A rear axle has third and fourth wheels and a gearbox connected to the PTU without a center differential. The gearbox has a first clutch configured to selectively couple the third wheel to the PTU and a second clutch configured to selectively couple the fourth wheel to the PTU. A controller is programmed to determine, during a turn, which of the third and fourth wheels is an outer rear wheel, determine whether there is a positive or negative torque on the outer rear wheel, and disengage, or keep disengaged, the one of the first and second clutches that is associated with the outer rear wheel in response to a negative torque on the outer rear wheel.

A vehicle control system may include a sensor network sensing vehicle attitude information and a controller operably coupled to the sensor network to determine, based on the vehicle attitude information, movement of a center of gravity of the vehicle relative to an axis of rotation of the vehicle. The controller may further determine a modification to a torque application of the vehicle based on the movement of the center of gravity of the vehicle relative to the axis of rotation of the vehicle.

A method for controlling a braking system of a motor vehicle that includes a plurality of wheels, at least one electric motor as a drive, a service brake and a vehicle dynamic control system. The wheels can be braked by a deceleration torque applied by the service brake and at least partially by a deceleration torque (M.sub.E) applied by the electric motor where slippage which arises as a result of braking and/or of intervention by the vehicle dynamic control system is regulated at least primarily through adjustment of the deceleration torque applied by the electric motor. When necessary, a drive torque is applied to regulate slippage or to cause a locked wheel to rotate by the electric motor.

An output torque control apparatus for hybrid vehicle is provided. The apparatus includes a motor controller that adjusts motor torque, an engine controller that adjusts engine torque, and a hybrid controller that operates the motor controller and the engine controller based on driving modes of a hybrid vehicle. The hybrid controller calculates transmission input torque corresponding to current request torque, confirms whether a current driving mode an EV mode or a HEV mode, calculates inertia compensation torque corresponding to the confirmed current driving mode, and calculates output torque based on the calculated inertia compensation torque and transmission input torque. Accordingly, at least one of the motor controller or the engine controller is operated based on the calculated output torque.

A computer in a vehicle includes a processor programmed to apply, on the vehicle, upon detecting an occupant alertness level below a first threshold, a first periodic component to a first torque applied to one or more first-end wheels and a second periodic component to a second torque applied to one or more second-end wheels.

A method is described for calibrating a characteristic diagram of a working machine. The characteristic diagram includes a brake pedal characteristic of a brake system and at least one clutch characteristic of a drive input clutch which, in the calibrated condition, have a nominal relationship to one another. The method having the steps of: determining a wheel-side drive output torque; determining an actual brake pedal characteristic with reference to the drive output torque; determining an actual relationship that differs from the nominal relationship by comparing the actual brake pedal characteristic with a nominal brake pedal characteristic; and calibrating the brake pedal characteristic or the clutch characteristic in such manner that the actual relationship corresponds to the nominal relationship. In addition a working machine with a control unit for carrying out the method is described.

A vehicle propulsion system configured to generate wheel torque includes an engine arranged to output a first propulsion torque to a transmission and an electric motor arranged to output a second propulsion torque downstream of the transmission. The vehicle propulsion system also includes a controller programmed to, in response to detecting a lash crossing associated with one of the electric motor and the transmission, set a torque slew rate of the other one of the electric motor and transmission such that each of the electric motor and transmission undergoes lash crossings at different points in time.

A drive force control system for hybrid vehicles configured to reduce a change in a drive force simultaneous execution of a starting operation of an engine and a shifting operation of a transmission. The drive force control is applied to a hybrid vehicle comprising: an engine connected to front wheels; a first motor connected to rear wheels; and a transmission that changes a speed ratio between the first motor and the rear wheels. A controller restricts execution of any one of an engine staring operation and a shifting operation of the transmission during execution of other one of the engine staring operation and shifting operation of the transmission.