A system for proactively controlling rimpull limit of a machine includes a hydraulic system having a lift cylinder to move an implement; a lift cylinder pressure sensor that senses a hydraulic pressure of the lift cylinder and responsively produces a lift cylinder pressure signal; and a controller in operable communication with the power train and the lift cylinder pressure sensor. The controller is configured to receive the lift cylinder pressure signal; determine the rimpull limit based at least in part upon the lift cylinder pressure signal; and adjust the torque of the power train to the rimpull limit.

Systems, methods, and other embodiments described herein relate to improving propulsion of a vehicle. In one embodiment, a method includes, in response to detecting a vehicle configuration associated with an arrangement of a set of hub motors that are selectively attachable on driven wheels of the vehicle, loading a control setting according to the arrangement to one of a series configuration and a parallel configuration to indicate a power source for the driven wheels as one or more of a motor of the set of hub motors and a central propulsion system. The set of hub motors is structured to be selectively attached to the driven wheels without removing the driven wheels from the vehicle. The method includes managing power delivery to the set of hub motors and the central propulsion system of the vehicle to propel the vehicle according to the control setting.

A vehicle body speed estimation method applied to a four-wheel drive vehicle includes: acquiring an estimated vehicle body speed based on wheel speeds or a longitudinal acceleration of the vehicle; determining whether an operation condition that includes at least a condition that the estimated vehicle body speed is higher than an operation determination speed is satisfied; performing torque limitation to reduce a torque of a portion of wheels of the vehicle when the operation condition is satisfied; determining whether a stop condition that includes a condition that the estimated vehicle body speed is lower than or equal to a stop determination speed or a condition that a duration of a state where a wheel acceleration of the portion of the wheels is higher than zero is longer than or equal to a set period of time; and stopping the torque limitation when the stop condition is satisfied.

A method of controlling braking when steering an in-wheel motor vehicle includes monitoring a required tire rotation angle for each steering angle and an actual tire rotation angle when performing cooperative control of an in-wheel motor for reducing a steering load, and generating a vehicle braking force in a case where the actual tire rotation angle exceeds the required tire rotation angle, thereby easily preventing a vehicle-skidding phenomenon.

System, methods, and other embodiments described herein relate to skid recovery for a vehicle. In one embodiment, a method for controlling a vehicle during skid includes obtaining data indicating a skid condition of the vehicle, determining whether the skid condition can be corrected by counter-steering, and executing an intervention when the skid condition cannot be corrected by counter-steering, the intervention including inducing slippage in front wheels of the vehicle to change a direction and/or magnitude of lateral forces at the front wheels.

The present invention provides a vehicle control apparatus, a vehicle control method, and a vehicle control system capable of optimizing balance between a target tire lateral force and a target tire longitudinal force. A vehicle control apparatus outputs an instruction for achieving an optimal slip ratio corresponding to a minimum value of a sum of a first difference and a second difference to an actuator regarding braking/driving of a vehicle. The first difference is a difference between a tire lateral force and a target tire lateral force with respect to an arbitrary slip ratio in a correlative relationship between a slip ratio and the tire lateral force of a tire of a wheel portion. The second difference is a difference between a tire longitudinal force and a target tire longitudinal force with respect to the arbitrary slip ratio in a correlative relationship between the slip ratio and the tire longitudinal force.

A vehicle slip control apparatus to be installed in a vehicle including a drive source configured to output power to a driving wheel of the vehicle and a gear pair interposed between an output shaft of the drive source and the driving wheel includes a rotating speed detector, a slip determination unit, and a slip determination prohibition unit. The rotating speed detector is configured to detect a rotating speed of the output shaft. The slip determination unit is configured to determine, when an absolute value of an angular acceleration of the rotating speed detected by the rotating speed detector exceeds a set threshold, that the driving wheel is in a slip state. The slip determination prohibition unit is configured to prohibit the determination by the slip determination unit until a predetermined time elapses after a direction of torque outputted from the drive source is inverted.

Systems and methods are provided herein for operating a vehicle in a vehicle yaw mode. In response to initiating vehicle yaw mode, the system engages an open-loop mode, that provides open-loop forward torque to the outer wheels of the vehicle and open-loop backward torque to the inner wheels of the vehicle until a sufficient number of wheels are slipping. In response to determining that a sufficient number of wheels are slipping, engaging a closed-loop mode. While operating in the closed-loop mode, one or both of the wheel rotation and vehicle yaw rate are monitored to adjust the torques provided to the wheels of the vehicle to control the vehicle yaw rate.

The present invention obtains a controller and a control method capable of improving a rider's perceptibility of a warning.

A controller (51) for a rider-assistance system (50) mounted to a straddle-type vehicle (100) includes: a determination section that determines necessity of the warning given to the rider; a haptic motion performing section that performs haptic motion at least once to reduce or increase acceleration/deceleration of the straddle-type vehicle (100) only for a moment; and an acquisition section that acquires travel state information of the straddle-type vehicle (100). The haptic motion performing section changes a priority of each wheel (3, 4) at the time of changing a braking force to reduce or increase the acceleration/deceleration only for the moment in the haptic motion according to the travel state information acquired by the acquisition section.

A drive assist apparatus configured to set a drive condition of a vehicle based on a risk map generated by giving a risk potential to a risk object that is present around the vehicle, includes one or more processors and one or more memories connected to the one or more processors to be able to communicate with the one or more processors. The one or more processors is configured to execute a process including: obtaining information on a surrounding environment of the vehicle; obtaining information on an external environmental factor that may cause deviation of a drive track of the vehicle; and expanding a setting range of the risk potential of the risk object which is positioned in a direction of the expected deviation based on the information on the external environmental factor.