Method and apparatus are disclosed for traction control based on friction coefficient estimation. An example vehicle includes a plurality of sensors to measure qualities of a surface of a road and an anti-lock brake system module. The anti-lock brake system module (a) estimates confidence values for different road surface types based on the qualities of the surface of the road, (b) estimates a coefficient of friction between the road and tires of the vehicle based on the confidence values, and (c) adapt a traction control system by altering a target slip based on the coefficient of friction.

Method and apparatus are disclosed for traction control based on friction coefficient estimation. An example vehicle includes a plurality of sensors to measure qualities of a surface of a road and an anti-lock brake system module. The anti-lock brake system module (a) estimates confidence values for different road surface types based on the qualities of the surface of the road, (b) estimates a coefficient of friction between the road and tires of the vehicle based on the confidence values, and (c) adapt a traction control system by altering a target slip based on the coefficient of friction.

A vehicle control apparatus to be applied to a vehicle includes a first traveling motor, a second traveling motor, and a control system. The control system estimates a first friction coefficient between a first wheel and a road surface and a second friction coefficient between a second wheel and a road surface. When the vehicle starts in a situation in which any of the first and second friction coefficients is less than a first threshold and a difference between the first and second friction coefficients is greater than a second threshold, the control system increases a power running torque of the first traveling motor after elapse of a first delay time after increasing a power running torque of the second traveling motor, if the first friction coefficient is smaller than the second friction coefficient. The first delay time is set on the basis of the first friction coefficient.

A drive control apparatus is applied to a drive system that is mounted to a vehicle, drives wheels of the vehicle by a motor, and brakes the wheels by a brake apparatus. The drive control apparatus determines a road-surface state of a travel road of the vehicle. The drive control apparatus suppresses slipping of the vehicle by correcting a drive torque by correcting at least either of a motor torque and a brake torque. When determined that the drive torque is to be corrected, the drive control apparatus adjusts a correction amount of the drive torque by adjusting the motor torque with higher priority than the brake torque in response to be determined that the road-surface state is rough.

A drive control apparatus is applied to a drive system that is mounted to a vehicle, drives wheels of the vehicle by a motor, and brakes the wheels by a brake apparatus. The drive control apparatus determines a road-surface state of a travel road of the vehicle. The drive control apparatus suppresses slipping of the vehicle by correcting a drive torque by correcting at least either of a motor torque and a brake torque. When determined that the drive torque is to be corrected, the drive control apparatus adjusts a correction amount of the drive torque by adjusting the motor torque with higher priority than the brake torque in response to be determined that the road-surface state is rough.

A controller for a vehicle is provided. One of a prime mover that drives a front wheel and a prime mover that drives a rear wheel is referred to as a first prime mover, and the other one is referred to as a second prime mover. The controller generates, when a required torque required for a drive wheel of the vehicle is a braking torque, the braking torque from the first prime mover. The controller limits, when the required torque changes from the braking torque to a driving torque, an increase in the driving torque generated from the first prime mover during a set period. The controller generates, from the second prime mover that does not generate the braking torque, the driving torque required during execution of the torque limit process.

A method for controlling a torque of at least one wheel of a mobile platform. The method includes: providing at least one current slip value of the wheel and at least one current wheel acceleration of the wheel as input values; providing a trained radial basis function network designed to determine, by means of the input values, at least one torque change as an output value for control of the at least one wheel; and determining a current torque change, by means of the trained radial basis function network and the provided input values, for control of the torque.

A computer implemented method for controlling at least one driven and/or braked wheel of a heavy-duty vehicle. The method includes obtaining a motion request indicative of a desired longitudinal acceleration and/or longitudinal force associated with the vehicle, and configuring a wheel slip limit value indicative of a maximum allowable wheel slip by the at least one driven and/or braked wheel at a nominal value, and increasing the wheel slip limit value from the nominal value to a boost wheel slip value in response to detecting a boost signal, as well as controlling the at least one driven and/or braked wheel in dependence of the motion request and subject to the wheel slip limit value.

A computer implemented method for controlling at least one driven and/or braked wheel of a heavy-duty vehicle. The method includes obtaining a motion request indicative of a desired longitudinal acceleration and/or longitudinal force associated with the vehicle, and configuring a wheel slip limit value indicative of a maximum allowable wheel slip by the at least one driven and/or braked wheel at a nominal value, and increasing the wheel slip limit value from the nominal value to a boost wheel slip value in response to detecting a boost signal, as well as controlling the at least one driven and/or braked wheel in dependence of the motion request and subject to the wheel slip limit value.

An antilock control method for a braking system of a vehicle has at least the following steps: upon the presence of a brake request signal, outputting a brake control signal and building up a brake pressure by a braking medium at a wheel brake of a vehicle wheel, measuring a wheel speed of the vehicle wheel to be braked, and determining a wheel slip of the vehicle wheel, upon meeting a first traction criterion or a locking tendency of the vehicle wheel, activating a wheel drive unit and applying a wheel drive torque on the vehicle wheel to increase the wheel circumferential velocity and to reduce the wheel slip until a second traction criterion is met. The brake force introduced in the wheel brake is controlled as a function of the wheel slip by releasing the brake pressure upon satisfying a first traction criterion.