A controller and a method for controlling motion of a vehicle is provided. The method comprises acquiring motion information including a current state of the vehicle and a desired state of the vehicle, determining a combination of a steering angle of the wheels and motor forces for moving the vehicle from the current state into the desired state by using a first model of the motion of the vehicle and a second model of the motion of the chassis of the vehicle, determining a cost function of the motion of the vehicle, optimizing the cost function of the motion of the vehicle to compute a command signal for controlling the steering wheel and the plurality of electric motors, and controlling the steering angle of the wheels and the motor forces based on the command signal.

A method includes calculating, at a data processing hardware, a relative angle between a tow vehicle and a trailer attached to the tow vehicle. An absolute angle of the tow vehicle is determined at the data processing hardware. An absolute angle of the trailer based on the relative angle and the absolute angle of the tow vehicle is calculated at the data processing hardware. A dimension of the trailer is determined at the data processing hardware. A trailer levelling adjustment based on the absolute angle of the trailer and the dimension of the trailer is calculated at the data processing hardware.

A device and a method for improving a turning motion of a vehicle may improve turning stability by cooperative control of an electric motor and the electronic controlled suspension (ECS) and improve behavior stability by optimizing a pitch/roll behavior by allowing realization of a target yaw moment required to improve turning characteristic of the vehicle to be reinforced by not only a yaw moment directly generated by a braking torque or a driving torque of the electric motor, but also a yaw moment indirectly generated by a load movement caused by controlling a damping force of the electronic controlled suspension (ECS).

A wheelie controller and a control method thereof or preventing a reduction of acceleration that is more than necessary and reducing a shock during a contact of a front wheel with the ground when a wheelie state is terminated. The wheelie controller for controlling a wheelie of a vehicle body computes a target trajectory, which is a target of a parameter and is used to control the wheelie state of the vehicle body, in accordance with the parameter that is related to pitch of the vehicle body and controls an increase/reduction of the pitch of the vehicle body so as to bring the parameter close to the target trajectory.

A four-wheel drive vehicle includes a drive-power distribution device including (a) a clutch for distributing an engine drive power, between main and auxiliary drive wheels, (b) an electric motor, (c) a press mechanism for pressing the clutch by converting a rotary motion of the electric motor into a linear motion. The drive-power distribution device adjusts a torque capacity of the clutch to adjust a drive-power distribution ratio between the main and auxiliary drive wheels. The vehicle further includes a control apparatus for executing a drive-power distribution control for adjusting the drive-power distribution ratio, and an automatic-stop control for causing the engine to be automatically stopped upon satisfaction of an engine-stop condition. When the engine is in a stop state by execution of the automatic-stop control, the control apparatus inhibits change of the drive-power distribution ratio which is to be made by change of a rotational direction of the electric motor.

A method for monitoring vehicle inertia parameters in real-time includes receiving at least one lateral dynamic value. The method also includes calculating at least one vehicle inertia parameter value using the at least one lateral dynamic value. The method also include determining a difference between the calculated at least one vehicle inertia parameter value and a corresponding baseline vehicle inertia parameter value. The method also includes, based on a comparison between the difference between the calculated at least one vehicle inertia parameter value and the corresponding baseline vehicle inertia parameter value and a threshold, selectively controlling at least one vehicle operation based on the calculated at least one vehicle inertia parameter value.

In one aspect, an apparatus for control of a driving torque for smooth riding on an uneven road is provided that comprises a pitch motion reduction objective function, a longitudinal acceleration reduction objective function, and a jerk reduction objective function are calculated using an acceleration value and a jerk constraint of a vehicle, and weights are reflected in these objective functions to calculate a final driving torque and applied to the vehicle, thereby reducing pitch motion, longitudinal acceleration, and jerk.

Methods and apparatus to control stability of a vehicle and trailer are disclosed. An example apparatus to control stability of a vehicle and trailer includes stability monitoring circuitry to determine, based on sensor data from one or more sensors of the vehicle, whether a vehicle stability condition associated with the vehicle is satisfied, and stability control circuitry to, in response to the vehicle stability condition not being satisfied, adjust a load distribution on front wheels and rear wheels of the vehicle by adjusting a vehicle pitch.

A vehicle system includes an engine driving a vehicle, a front wheel and a rear wheel, a suspension device with an attachment portion to a vehicle body which is located at a higher level than a center axis of the rear wheel, an electromagnetic coupling to distribute a torque of the engine to the front wheel and the rear wheel, a steering wheel to be operated by a driver, a steering angle sensor to detect a steering angle corresponding to operation of the steering wheel, and a controller to control the engine and the electromagnetic coupling. The controller is configured to control the electromagnetic coupling such that the torque distributed to the rear wheel is decreased in accordance with a returning operation of the steering wheel which is detected by the steering angle sensor.

This application relates to a vehicle control system, a vehicle control method, and a storage medium. The vehicle control system includes: a planning layer in which a service is configured to generate an operation instruction according to a driving task; a reference layer in which a service is configured to generate a target parameter according to the operation instruction, the target parameter reflecting a requirement for state control of a vehicle; an advanced control layer in which a service is configured to generate an execution parameter according to the target parameter, the execution parameter reflecting an execution capability of a vehicle executor for the requirement for state control; an allocation control layer in which a service is configured to allocate category task parameters to category executors according to the execution parameter; and an underlying control layer in which a service is configured to provide the category task parameter for at least one of the category executors. The vehicle control system can shield underlying hardware and provide a comprehensive service combination, so as to implement more rational control.