A processor for a vehicle includes a vehicle yaw moment instruction calculator, and a mode under which yaw moment of the vehicle is controlled. If the vehicle yaw moment instruction value generates the driving forces or the driving torques, the driving forces or driving torques are different between the left and right wheels. If the vehicle yaw moment instruction value generates the braking forces or the braking torques, the braking forces or the braking torques are different between the left and right wheels. The mode operates at least in transit region between daily region and limit region.

A processor for a vehicle includes a vehicle yaw moment instruction calculator, and a mode under which yaw moment of the vehicle is controlled. If the vehicle yaw moment instruction value generates the driving forces or the driving torques, the driving forces or driving torques are different between the left and right wheels. If the vehicle yaw moment instruction value generates the braking forces or the braking torques, the braking forces or the braking torques are different between the left and right wheels. The mode operates at least in transit region between daily region and limit region.

A vehicle electronic stability control system allows a vehicle to have improved movement performance and limit performance without causing a driver to feel uncomfortable, by actuating electronic stability control from a state where a lateral slip is relatively less likely to occur. The system prevents skidding of a vehicle including motors which individually drive a pair of left and right drive wheels. A stability determination module obtains information indicating vehicle behavior from a sensor, and determines whether or not the vehicle is in an unstable or less stable state, on the basis of the information. A braking/driving force control module which, when the stability determination module determines that the vehicle is in the unstable or less stable state, applies a braking force to one of the drive wheels, and simultaneously applies a driving force to the motor for the other drive wheel.

Provided is a motion controlling apparatus for a vehicle that can achieve improvement in drivability, stability, and driving comfort. The apparatus includes a control unit for controlling driving forces of vehicle wheels; a vehicle acceleration/deceleration instruction calculator for calculating an acceleration/deceleration instruction value on the basis of a lateral jerk; a first vehicle yaw moment instruction calculator for calculating a first vehicle yaw moment instruction value on the basis of the lateral jerk; and a second vehicle yaw moment instruction calculator for calculating a second vehicle yaw moment instruction value on the basis of lateral slip information.

A vehicle control system is provided with a first driving force control means that controls a turning performance of a vehicle by controlling a driving force delivered from a prime mover to driving wheels so as to adjust the turning condition of the vehicle to an intended turning condition. The first driving force control means is configured to calculate a correction amount of the driving force required to adjust an actual turning condition of the vehicle to the intended turning condition, and to restrict the correction amount to zero or smaller so as not to increase the driving force if the correction amount is positive value.

A method and a system for decelerating a single-track motor vehicle, includes using a control unit to determine a total torque of a wheel of the motor vehicle required for a desired riding maneuver, in particular a controlled slip of a rear wheel, determine, a braking partial torque and a motor partial torque as a function of the total torque required, and generate the braking partial torque on the wheel by controlling a brake system of the motor vehicle and generating the motor partial torque on the wheel by controlling a motor of the motor vehicle The invention further includes a single-track motor vehicle configured to execute the decelerating method.