An apparatus with torque vectoring control of a vehicle with an independent driving motor includes: one or more processors configured to: measure driving information including a steering angle, a yaw rate, a longitudinal velocity, lateral acceleration and longitudinal acceleration of the vehicle; calculate a driving aggressiveness (DA) index representing driving aggressiveness of a driver through an exponential weighted moving average (EWMA) operation using the driving information; calculate a target yaw rate based on the driving information and the DA index; and generate a control moment based on the driving information, the DA index and the target yaw rate, wherein, for the calculating of the DA index, the one or more processor are configured to calculate the DA index to have a higher value than a case of generating only longitudinal acceleration or a case of generating only lateral acceleration, in response to the longitudinal acceleration and the lateral acceleration being generated at a same time.

A multi-operational land drone includes a vehicle body, one or more batteries, one or more sensors, and a removeable dashboard. The one or more batteries are disposed on a lower portion of the vehicle body. The one or more sensors are disposed on the vehicle body.

When temperature of a second power source of a vehicle becomes higher than a threshold value during a first mode in which three rotating elements of a differential gear can make differential movement and when four-wheel drive is needed, switching is performed to a second mode in which the three rotating elements are unified, and when four-wheel drive is not needed even when the temperature of the second power source becomes higher than the threshold value during the first mode, output of the second power source is restricted, while the first mode is maintained.

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.

Systems and methods for controlling a vehicle. The system includes a plurality of sensors and an electronic controller. The electronic controller is configured to receive data from the plurality of sensors and determine a target vehicle travel direction of the vehicle based on the received data. The electronic controller then determines a heading error based on the target travel direction, determines a heading error derivative, and generates a vehicle control command based on the heading error and the heading error derivative.

A method of controlling a hybrid electric vehicle including an engine and a first motor connected to main drive wheels and a second motor connected to auxiliary drive wheels includes determining a required torque, in response to a predetermined condition being satisfied, determining a first torque that the second motor is to continuously output based on the required torque and a vehicle speed and determining a second torque that the second motor is to discontinuously output in order to compensate for acceleration loss in a situation in which the acceleration loss occurs based on a state of an engine clutch disposed between the engine and the first motor, a state of a transmission, or the required torque, and determining a final torque of the second motor based on the first and second torques.

Disclosed is a bidirectional transmission control system for a vehicle. A road surface recognition apparatus collects an image of a road surface on which a vehicle drives currently, and forwards, after recognizing the type of the road surface on which the vehicle drives currently according to the image of the road surface, a corresponding first terrain mode request signal to an all-terrain controller through a signal transfer apparatus, so as to start a corresponding terrain mode in an all-terrain adaptive mode. In addition, the all-terrain controller forwards execution information about the terrain mode to the road surface recognition apparatus through the signal transfer apparatus, so as to implement state feedback of the terrain mode currently executed. The inconsistency of information transmission rates between an all-terrain control system of a vehicle and an input system can be coordinated, thereby aiding in real-time switching of various terrain modes.

The present invention obtains a controller and a control method capable of achieving appropriate cornering during adaptive cruise control of a straddle-type vehicle.

In the controller and the control method according to the present invention, during the adaptive cruise control in which the straddle-type vehicle is made to travel according to a distance from the straddle-type vehicle to a preceding vehicle, motion of the straddle-type vehicle, and a driver's instruction, at least one of braking force distribution, which is distribution of braking forces generated on wheels of the straddle-type vehicle to the front and rear wheels, and drive power distribution, which is distribution of drive power transmitted to the wheels of the straddle-type vehicle to the front and rear wheels, is controlled on the basis of lateral acceleration of the straddle-type vehicle.

The present disclosure relates to a method for computing a friction estimate between a road surface and a tire of a vehicle. The method comprises applying a controllable torque to at least one of wheel of the vehicle and determining a vehicle velocity when the controllable torque is applied. Estimate a present tire force acting on the first tire when the torque is applied. Based on a vehicle velocity, estimate the present slip of the tire. Determining a present gradient of the tire force with respect to the slip based on the present tire force and the value indicative of the present slip. When the present gradient exceeds a predetermined first gradient threshold value and is below predetermined second gradient threshold value, compute the friction estimate.

A hybrid vehicle control method is provided for a hybrid vehicle having an engine and a generator directly connected via a gear train having a plurality of gears that are engaged with each other. In this hybrid vehicle control method, a prescribed torque is continuously applied to the generator upon determining the engine is in a rotating state such that a transmission torque of the gear train does not continuously fluctuate above and below zero torque. Preferably, in one embodiment, the prescribed torque continuously applied to the second motor/generator is a negative torque value during a power generation operation in which the generator is rotated by the engine and is a positive torque value during a motoring operation in which the engine is rotated by the generator.