A rut determination device is configured to determine, for each road section, presence or absence of a rut based on any one of a plurality of first variation quantities each of which is the variation quantity of a vehicle-body slip angular velocity per unit time for each vehicle, a plurality of first processed values each of which is a value obtained by performing predetermined processing for each of the plurality of the first variation quantities, a plurality of second variation quantities each of which is the variation quantity of a vehicle-body slip-related value, which is the product of the vehicle-body slip angular velocity and the vehicle speed for each vehicle, per unit time, and a plurality of second processed values each of which is a value obtained by performing the predetermined processing for each of the plurality of the second variation quantities.

A rut determination device is configured to determine, for each road section, presence or absence of a rut based on any one of a plurality of first variation quantities each of which is the variation quantity of a vehicle-body slip angular velocity per unit time for each vehicle, a plurality of first processed values each of which is a value obtained by performing predetermined processing for each of the plurality of the first variation quantities, a plurality of second variation quantities each of which is the variation quantity of a vehicle-body slip-related value, which is the product of the vehicle-body slip angular velocity and the vehicle speed for each vehicle, per unit time, and a plurality of second processed values each of which is a value obtained by performing the predetermined processing for each of the plurality of the second variation quantities.

A vehicle control apparatus according to the present invention outputs a signal regarding a target braking/driving force for guiding a vehicle in a target traveling direction to a braking/driving controller. The signal regarding the target braking/driving force is acquired based on information regarding a running route of the vehicle and a physical amount regarding a motion state of the vehicle. The vehicle control apparatus outputs a signal regarding a steering correction torque for correcting a steering torque according to a behavior of the vehicle to a steering force controller. The signal regarding the steering correction torque is acquired based on a vehicle-body slip angle of the vehicle and the target braking/driving force.

Technical solutions are described for estimating tire-road friction in a vehicle pro-actively, prior to safety systems of the vehicle are engaged. An example method includes computing a slip for the vehicle based on one or more wheel speeds, acceleration, and tire pressure measurement. The method further includes determining a slope (α) as indicator of tire-road friction for the vehicle based on the acceleration and the slip. Further, the method includes sending the slope to an autonomous controller of the vehicle for adjusting vehicle kinematics according to the estimated friction using the slope.

Disclosed herein are an apparatus and method for compensating for a heading angle. The apparatus for compensating for a heading angle includes a compensation condition determination unit configured to determine whether a predetermined compensation condition is satisfied, to compensate for a heading angle of a camera, and a heading angle processing unit configured to compensate for the heading angle of the camera using a lane distance input from the camera, when it is determined by the compensation condition determination unit that the compensation condition is satisfied.

Disclosed herein are an apparatus and method for compensating for a heading angle. The apparatus for compensating for a heading angle includes a compensation condition determination unit configured to determine whether a predetermined compensation condition is satisfied, to compensate for a heading angle of a camera, and a heading angle processing unit configured to compensate for the heading angle of the camera using a lane distance input from the camera, when it is determined by the compensation condition determination unit that the compensation condition is satisfied.

A driving assistance apparatus to be mounted on a vehicle includes an outwardly headed state detection unit, a target accelerator operation amount setting unit, and an information presentation unit. The outwardly headed state detection unit makes a detection of an outwardly headed state in which the vehicle is cornering with a yaw rate and a slip angle of a vehicle body having a same sign. The target accelerator operation amount setting unit sets, in response to the detection of the outwardly headed state, a target accelerator operation amount so that a difference between a driving force on the front wheel caused by an output of the travel power source and an absolute value of a braking force on the front wheel caused by internal circulation torque of a transfer is reduced. The information presentation unit presents the driver with information regarding the target accelerator operation amount.

A driving assistance apparatus to be mounted on a vehicle includes an outwardly headed state detection unit, a target accelerator operation amount setting unit, and an information presentation unit. The outwardly headed state detection unit makes a detection of an outwardly headed state in which the vehicle is cornering with a yaw rate and a slip angle of a vehicle body having a same sign. The target accelerator operation amount setting unit sets, in response to the detection of the outwardly headed state, a target accelerator operation amount so that a difference between a driving force on the front wheel caused by an output of the travel power source and an absolute value of a braking force on the front wheel caused by internal circulation torque of a transfer is reduced. The information presentation unit presents the driver with information regarding the target accelerator operation amount.

A vehicle stability control method and a vehicle stability control device are provided. The method may be applied to an intelligent automobile field such as intelligent driving or autonomous driving, and is used to control lateral stability of a front axis and rear axis distributed driven vehicle. In this method, a yawing movement of the vehicle is considered, and an additional yawing moment for maintaining lateral stability of the vehicle is provided by compensating for front-axis and rear-axis slip ratios, to control lateral stability of the vehicle and therefore improve stability of the vehicle during driving.

A vehicle stability control method and a vehicle stability control device are provided. The method may be applied to an intelligent automobile field such as intelligent driving or autonomous driving, and is used to control lateral stability of a front axis and rear axis distributed driven vehicle. In this method, a yawing movement of the vehicle is considered, and an additional yawing moment for maintaining lateral stability of the vehicle is provided by compensating for front-axis and rear-axis slip ratios, to control lateral stability of the vehicle and therefore improve stability of the vehicle during driving.