An apparatus for assistance avoidance steering is provided. The apparatus includes a processor configured to perform avoidance steering control based on Rear Wheel Steering (RWS) control when a head-on collision risk is sensed, and a storage configured to store data and an algorithm runnable by the processor. The avoidance steering control is based on the algorithm.

An apparatus of determining a target steering angle, may include: a feedforward steering angle calculator configured for determining a feed forward steering angle reflecting a yaw moment generated by torque vectoring during turning driving of an electric vehicle in autonomous driving; and an adder configured for obtaining a target steering angle by adding the determined feedforward steering angle to a feedback steering angle, the feedback steering angle being a steering angle measured through a steering angle sensor.

An apparatus of determining a target steering angle, may include: a feedforward steering angle calculator configured for determining a feed forward steering angle reflecting a yaw moment generated by torque vectoring during turning driving of an electric vehicle in autonomous driving; and an adder configured for obtaining a target steering angle by adding the determined feedforward steering angle to a feedback steering angle, the feedback steering angle being a steering angle measured through a steering angle sensor.

A yaw motion control method for a four-wheel distributed vehicle includes: calculating the steering response of the vehicle in a steady state using a nonlinear vehicle model in reference with an understeering degree while constraining by the limit value of the road surface adhesion condition according to the sideslip angle response and the vertical load change in the steady state, calculating the lateral force response and the self-aligning moment response of the tires in the steady state by a magic tire formula, calculating the required additional yaw moment by using the yaw motion balance equation, reasonably distributing the generalized control force to the four drive motors through the optimization algorithm in combination with the current driving conditions; finally, off-line storing and retrieving the calculation results of the off-line distribution of different vehicle parameters required by different upper layers to distribute the torques to the four drive wheels.

A yaw motion control method for a four-wheel distributed vehicle includes: calculating the steering response of the vehicle in a steady state using a nonlinear vehicle model in reference with an understeering degree while constraining by the limit value of the road surface adhesion condition according to the sideslip angle response and the vertical load change in the steady state, calculating the lateral force response and the self-aligning moment response of the tires in the steady state by a magic tire formula, calculating the required additional yaw moment by using the yaw motion balance equation, reasonably distributing the generalized control force to the four drive motors through the optimization algorithm in combination with the current driving conditions; finally, off-line storing and retrieving the calculation results of the off-line distribution of different vehicle parameters required by different upper layers to distribute the torques to the four drive wheels.

A method and system for controlling a wheel slip of a vehicle without using a reference speed is provided. The system includes a speed detector that detects a speed of a driving device for operating the vehicle and a controller that determines a torque calibration command based on a torque command of the driving device, and a current speed and a past speed of the driving device detected by the speed detector. The torque command of the driving device is calibrated using the determined torque calibration command, and a driving device is operated based on the calibrated torque command.

A method and system for controlling a wheel slip of a vehicle without using a reference speed is provided. The system includes a speed detector that detects a speed of a driving device for operating the vehicle and a controller that determines a torque calibration command based on a torque command of the driving device, and a current speed and a past speed of the driving device detected by the speed detector. The torque command of the driving device is calibrated using the determined torque calibration command, and a driving device is operated based on the calibrated torque command.

A tire failure detection device includes a steering angle sensor for sensing a steering angle, a yaw rate sensor for sensing a yaw rate, and a control unit. The control unit calculates side-slip energy based on the output signal of the steering angle sensor and the output signal of the yaw rate sensor, and determines that a failure has occurred in a tire when the side-slip energy exceeds a first threshold.

A control system for a driveline of a vehicle and method of operating the control system are provided. The system includes a base torque calculation module in communication with a plurality of vehicle controllers. The base torque calculation module determines and outputs a wheel torque command signal. A torque modulation module generates a periodic torque modulation signal based on the wheel torque command signal and a plurality of tire parameters. An adder module adds the periodic torque modulation signal to the wheel torque command signal and outputs a modulated wheel torque command signal to a wheel torque generator to linearize a tire characteristic of the plurality of tires of the vehicle. A slip and force determining module determines and outputs a plurality of slip estimates and estimated forces and a plurality of tire parameters to the torque modulation module, the plurality of vehicle controllers, and base torque calculation module.

A control system for a driveline of a vehicle and method of operating the control system are provided. The system includes a base torque calculation module in communication with a plurality of vehicle controllers. The base torque calculation module determines and outputs a wheel torque command signal. A torque modulation module generates a periodic torque modulation signal based on the wheel torque command signal and a plurality of tire parameters. An adder module adds the periodic torque modulation signal to the wheel torque command signal and outputs a modulated wheel torque command signal to a wheel torque generator to linearize a tire characteristic of the plurality of tires of the vehicle. A slip and force determining module determines and outputs a plurality of slip estimates and estimated forces and a plurality of tire parameters to the torque modulation module, the plurality of vehicle controllers, and base torque calculation module.