A method for having a vehicle follow a desired curvature path is provided. The vehicle has at least one differential with a differential lock connected to at least one driven wheel axle of the vehicle. The method includes providing information regarding state of the differential lock, the state being either that the differential lock is activated or unlocked, and when the differential lock is activated, calculating a yaw moment of the vehicle caused by the differential lock; and compensating for a deviation from the desired curvature path caused by the yaw moment such that a resulting steering angle is equal to or less than a maximum allowed steering angle of the vehicle. The compensation is a feed forward compensation.

A control system (300) for controlling an active suspension system (104) of a vehicle (100), the control system comprising one or more controller (301), wherein the control system is configured to: obtain (908) information indicative of relative traction levels between different wheels (FL, FR, RL, RR) of the vehicle; and in dependence on the information, control (912) the active suspension system to increase normal force through a wheel (FR) of the vehicle having relatively high traction compared to one or more other wheels (FL, RL, RR) of the vehicle, and decrease normal force through a wheel (FL) of the vehicle having relatively low traction compared to one or more other wheels (FR, RL, RR) of the vehicle.

A vehicle includes an electric machine, an engine, an engine mount, and a controller. The engine has a base speed that corresponds to a speed of the electric machine and an engine power demand. The engine mount is disposed between the engine and a vehicle structure such as a frame or unibody. The controller is configured to, in response to compression of the engine mount, increase an engine speed to a value that is greater than the base speed to reduce engine lugging.

Systems and methods for launching a hybrid vehicle that includes a motor/generator and an automatic transmission with a torque converter are described. The systems and methods may permit improved vehicle acceleration to enhance hybrid vehicle performance during specific vehicle launch conditions. The launch conditions may be established based on brake pedal position and accelerator pedal position.

An acceleration slip regulation method and device for a four-wheel drive electric vehicle are disclosed. The method comprises the following steps: detecting wheel speeds of four wheels of an electric vehicle and a depth of depression of an accelerator pedal; estimating a vehicle speed of the electric vehicle according to the wheel speeds of the four wheels, determining a road condition at the location of the electric vehicle according to the wheel speeds of the four wheels and the vehicle speed, and acquiring a required torque of the electric vehicle according to the depth of depression of the accelerator pedal, wherein the road condition comprising a low adhesion starting road, a joint road, and a bisectional road; and performing acceleration slip regulation on the four wheels respectively according to the road condition and the required torque. The control method can ensure that the wheels do not slip, the electric vehicle does not undergo lateral displacement and a yaw rate is kept within a certain range after the electric vehicle activates acceleration slip. The control method can maximize the use of ground adhesion to improve the escape capability of the electric vehicle.

A method of controlling a driving force of a four-wheel drive vehicle includes causing a control unit to acquire a vehicle speed, a lateral acceleration, a driving force of a wheel, a road surface friction coefficient, and a ground contact load of the wheel when the vehicle is traveling, determine whether a road surface is rough based on the acquired road surface condition, correct, when the road surface is determined to be rough, the load of the wheel, by applying thereto a load change rate set according to the roughness, predict a slip occurrence of the wheel by comparing a product of the corrected load and the road surface friction coefficient to a total force of the driving force and a lateral force caused by a lateral acceleration in cornering, and reduce, when the slip occurrence is predicted, the driving force so as to prevent the slip occurrence.

A vehicle control system includes a speed control system which is configured automatically to attempt to cause a vehicle to operate in accordance with a target speed value by causing a first vehicle speed value determined according to a first predetermined method to become or be maintained substantially equal to the predetermined target speed value at least in part by causing application of positive drive torque to one or more wheels by means of a powertrain. The speed control system is configured to impose a constraint on the amount of driving torque that may be demanded of the powertrain in dependence on the target speed value and a second vehicle speed value determined according to a second predetermined method. The second predetermined method is based on the mean speed of the driven wheels of the vehicle.

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 propulsion system, control system, and method use model predictive control systems to generate a plurality of sets of possible command values and determine a cost for each set of possible command values. The set of possible command values that has the lowest cost is determined and defined as a selected set of command values. In some circumstances, the MPC-determined command value may be replaced by another transmission ratio command based on override inputs. Minimum and maximum transmission ratios are determined based on the override inputs, and a constrained (or arbitrated) transmission ratio is determined therefrom. The constrained or arbitrated transmission ratio is used to determine whether to apply an MPC-determined transmission ratio or a transmission ratio based on the arbitrated transmission ratio to determine an ultimate commanded transmission ratio. Pressure(s) are commanded to a transmission pulley assembly, which is configured to implement the ultimate commanded transmission ratio.

The present disclosure provides an apparatus for controlling distribution of torque of front and rear wheel of a four-wheel drive (4WD) vehicle, including: a slip control torque calculator configured to calculate slip control torque of the rear wheels from information collected from the vehicle during driving in a 4WD mode; a handling control torque calculator configured to calculate handling control torque for the rear wheels from information collected from the vehicle during driving in the 4WD mode; a weighting factor determiner configured to determine a slip control weighting factor and a handling control weighting factor based on vehicle state information; and a target torque calculator configured to calculate target torque of rear wheel by summing the weighting factors applied to the slip control torque and handling control torque, respectively, wherein the target torque of the rear wheel is a target value of the torque distributed to the real wheel.