A method for controlling propulsion of a heavy-duty vehicle, where the heavy-duty vehicle comprises a differential drive arrangement arranged in connection to a drive axle with a left wheel and a right wheel is provided. The method includes determining a nominal shaft slip corresponding to a desired wheel force to be generated by the drive axle wheels, wherein the nominal shaft slip is indicative of a difference between a current vehicle velocity and a vehicle velocity corresponding to the shaft speed, determining a difference between a speed of the left wheel and a speed of the right wheel, adjusting the nominal shaft slip in dependence of a magnitude of the wheel speed difference to a target shaft slip, and controlling the shaft speed based on the target shaft slip.

A vehicle parking assist system is disclosed. The vehicle parking assist system may include a transceiver configured to receive parking space information, a memory configured to store vehicle information, and a processor. The processor may be configured to generate a first instruction for a first vehicle wheel and a second instruction for a second vehicle wheel based on the parking space information and the vehicle information. Based on the first instruction and the second instruction, the processor may cause vehicle movement to park a vehicle in a parking space. The processor may be configured to obtain a trigger event, and generate a third instruction for the first vehicle wheel and a fourth instruction for the second vehicle wheel based on the first instruction and the second instruction. Based on the third instruction and the fourth instruction, the processor may cause vehicle movement to exit the vehicle from the parking space.

A vehicle having a transceiver and a processor is disclosed. The transceiver may receive environment condition, road condition, and vehicle information. The processor may be communicatively coupled with the transceiver, and may obtain the environment condition, the road condition, and the vehicle information from the transceiver. The processor may determine that the vehicle may be in an unstable driving state based on the obtained condition. Responsive to determining that the vehicle may be in the unstable driving state, the processor may determine a vehicle instability type based on the environment condition, the road condition, and the vehicle information. The processor may be further configured to generate a first instruction for a first vehicle wheel and a second instruction for a second vehicle wheel based on the vehicle instability type, and cause a vehicle movement based on the first instruction and the second instruction.

A coordinated control method for electric vehicles having independent four-wheel driving and steering, comprising the steps of: calculating to obtain a desired value of yaw velocity according to the steering angle and the current vehicle driving speed, and limiting the desired value of yaw velocity according to the current road adhesion condition; constructing an optimization problem according to the current vehicle motion state and the desired value of yaw velocity, and solving the optimization problem to obtain a desired active rear wheel steering angle control variable and a desired additional yaw moment control variable; calculating to obtain an additional torque of each wheel according to a desired additional yaw moment control variable, obtaining a desired active rear wheel steering angle, and sending the additional torque of each wheel and the desired active rear wheel steering angle to an executor of the vehicle for performing a coordinated control.

A vehicle including a transceiver, a wheel drive motor and a processor is disclosed. The transceiver may be configured to receive road information and weather information, and the wheel drive motor may be configured to control torque of a vehicle wheel. The processor may be configured to receive a trigger signal when the vehicle approaches a curvy road. The processor may be further configured to obtain the road information and the weather information from the transceiver responsive to obtaining the trigger signal. The road information may include radius of curvature of the curvy road. The processor may calculate a vehicle speed based on the obtained road information and the weather information. The processor may further transmit a command signal to the wheel drive motor to vehicle wheel control torque based on the vehicle speed.

A method for controlling wheel slip of a vehicle. The vehicle comprises at least a first and a second motion support device, MSD, for providing torque to a common wheel of the vehicle. The method comprises receiving a wheel torque request. Based on the received wheel torque request, the method further comprises controlling the first MSD to provide torque to the wheel in a first mode of operation, and controlling the second MSD to provide torque to the wheel in a second mode of operation which is different from the first mode of operation. The controlling of the first MSD and the controlling of the second MSD are, at least temporarily, performed simultaneously.

A method for adaptive estimation of a road surface adhesion coefficient for a vehicle with complex excitation conditions taken into consideration comprises the following steps: 1) designing an estimator according to a single-wheel dynamics model of a vehicle, and estimating a longitudinal tire force and a road surface peak adhesion coefficient under longitudinal excitation; 2) designing an estimator according to a two-degree-of-freedom kinematic model of the vehicle, and estimating a tire aligning moment and a road surface peak adhesion coefficient under excitation of a lateral force; and 3) determining an excitation condition met by the vehicle according to a vehicle state parameter, performing fuzzy inference to obtain limits achievable by current longitudinal and lateral tire forces, and designing a fusion observer to fuse estimation results. The method achieves favorable robustness, improves real-time capability, and can be performed quickly and accurately.

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.

A control system for a drive unit configured to control driving force and braking force integrally is provided. The control system comprises: a sensor that detects vehicle conditions and an operation amount of an accelerator pedal etc.; a brake device that is contacted to an input element of a differential unit or a rotary member attached to the drive motor connected to the differential unit; and a controller. The controller is configured to calculate: a target travelling condition based on the vehicle condition and the operation amount detected by the sensor; target drive torques or target braking torques to be applied to the right wheel and left wheel based on the target travelling condition; output torques of a drive motor and a differential motor based on the target driving torques; and a braking force to be established by the brake device and an output torque of the differential motor based on the target braking torques.

In various example embodiments, a system and method for determining a total weight of a vehicle, transmitting the total weight measured to the vehicle's autonomous control system, and controlling the vehicle according to the total weight of the vehicle. The system and method further transmits information between separate vehicles with similar autonomous control systems. A method includes: providing predetermined calibration settings relating drive force to motor speed for a vehicle travelling at various speeds, determining that one or more vehicle performance parameters fall within a threshold range, determining the vehicle's longitudinal acceleration and drive force, determining a total weight comprising a weight of the vehicle and a weight being hauled by the vehicle; transmitting the total weight to the autonomous control system, and controlling the vehicle according to total weight of the vehicle.