An electrical passenger car, the electrical passenger car comprising: at least two electrically driven motors; motor control electronics; sensors; and wheels, wherein said wheels comprise a first front wheel and a first back wheel, wherein said first back wheel has a radius at least 9% greater than a radius of said first front wheel, and wherein said motor control electronics control said at least two electrically driven motors to provide a greater torque to said front wheel than to said back wheel, or wherein said motor control electronics control said at least two electrically driven motors to provide a greater torque to said back wheel than to said front wheel.

The invention relates to a control unit for controlling torque applied to a vehicle wheel provided with a tyre, wherein the control unit comprises or is operatively connected to a data storage, which data storage has a stored tyre model for the tyre, wherein, in the tyre model, longitudinal tyre force is represented as at least a function of longitudinal wheel slip, longitudinal wheel slip being dependent on rotational speed of the wheel and velocity of the vehicle. The control unit is configured to correct said function based on a tyre parameter input and to convert a wheel torque request to a wheel rotational speed request based on the corrected function, and to send the wheel rotational speed request to an actuator for providing a rotational speed of the wheel corresponding to said wheel rotational speed request. The invention also relates to a method and to a kit.

The present disclosure relates to a method for controlling at least one actuator of a vehicle, the actuator being configured to apply a torque on at least one wheel of the vehicle, wherein the applied torque is determined by a control function associated with a control bandwidth, the method comprising configuring the control function to control the applied torque to reduce a difference between a first parameter value related to a current rotational speed of the wheel and a second parameter value related to target rotational speed of the wheel; obtaining data indicative of a current operating condition of the vehicle; setting the control bandwidth of the control function in dependence of the current operating condition of the vehicle; and controlling the actuator using the control function.

The present disclosure relates to a vehicle motion management system as well as a motion support system for a vehicle. The vehicle motion management system and the motion support system are arranged to control operation of at least one actuator configured to apply a torque to at least one wheel of the vehicle. The vehicle motion management system is configured to transmit a control signal indicative of a desired torque and a wheel speed limit to the motion support system, whereby the motion support system is, based on the received signal, configured to transmit an actuator signal to the actuator for the actuator to generate an operating torque on the at least one wheel without exceeding an actuator rotational speed limit.

Processing to estimate a type of a road surface is executed repeatedly. In the m-th processing, a holding time of an estimation result obtained by the m-th processing is set based on gradient data just before the m-th processing. The holding time is set to a longer duration as an uplink gradient of the road surface indicated by the latest gradient data increases. In the (m+n)-th processing, it is determined whether or not a feature portion is recognized from an imaging data. If this determination result is negative, the holding time is compared with a UNDEF period during which it has been determined that no feature portion has been recognized backward from the (m+n)-th processing. If the holding time is longer than the UNDEF period, then the estimation result obtained in the (m+n)-th processing is assumed to be the same as that obtained in the m-th processing.

A robot system includes a mobile robot provided with a driving wheel and a driving motor, a load cell provided in the mobile robot, a spring connected to the load cell, an auxiliary wheel connected to the spring, and a controller configured to change a speed of the driving motor according to a sensing value of the load cell.

An electrical passenger car, the electrical passenger car including: at least two electrically driven motors; motor control electronics; sensors; and wheels, where the wheels include a first front wheel and a first back wheel, where the first back wheel has a radius at least 15% greater than a radius of the first front wheel, and where the motor control electronics control the at least two electrically driven motors to provide a greater torque to the front wheel than to the back wheel, or where the motor control electronics control the at least two electrically driven motors to provide a greater torque to the back wheel than to the front wheel.

The present invention relates to a method and device for estimating the road surface friction coefficient of a tire, which estimate the road surface friction coefficient of a tire mounted on a wheel of a vehicle in a state in which the vehicle is normally running at high speed. The method includes: acquiring the state information of a vehicle including at least one of engine state information, transmission state information, and chassis state information from sensors mounted on the vehicle and specifications set for the vehicle; estimating a longitudinal slip ratio, normal force, and longitudinal force for a tire mounted on each wheel of the vehicle by using the acquired state information of the vehicle; and estimating a road surface friction coefficient for the tire by using the estimated longitudinal slip ratio, normal force, and longitudinal force.

A method for operating a motor vehicle, the motor vehicle has a control device and a drive train. The drive train includes as components a motor, a clutch, and at least one wheel. The motor is coupled to the at least one wheel via the clutch. The control device controls a rotational speed of the at least one wheel based on a rotational speed specification using a model mapping the drive train of the motor vehicle. A torque generated by the motor is influenced as the manipulated variable as a function of at least one state variable of the drive train determined on the basis of the model.

An electrical passenger car, the electrical passenger car including: at least two electrically driven motors; motor control electronics; sensors; and wheels, where the wheels include a first front wheel and a first back wheel, where the first back wheel has a radius at least 20% greater than a radius of the first front wheel, and where during acceleration of the electrical passenger car, the motor control electronics receive signals from the sensors and provide traction control delivering more power to one of the at least two electrically driven motors accordingly.