Provided is a conveying vehicle that ensures efficiently travelling while suppressing vehicle slip. A dump truck 100 includes a vehicle body 101 provided with wheels 103 and a vehicle control device 300 and travels on a travel route. The vehicle control device 300 calculates and stores slip limit values at a plurality of positions on the travel route, reads out the slip limit values to calculate at least one of a maximum acceleration and a maximum deceleration of the dump truck 100 at which the wheels 103 is capable of maintaining a grip state against a road surface, and sets a target travel speed at a travel position between the dump truck 100 and a target position according to a target speed at the target position and at least one of the maximum acceleration and the maximum deceleration.

An approach is provided for calibrating vehicle motion data using a rotation matrix calculated based on mobile device sensor data, thereby determining vehicle events (e.g., forward acceleration, stoppages, etc.). The approach, for example, involves determining a road segment that meets one or more criteria for straightness, inclination, or a combination thereof. The approach also involves collecting sensor data from at least one sensor of a mobile device associated with a vehicle in motion on the road segment based on the determination. The sensor data indicates one or more acceleration vectors in a mobile device frame of reference. The approach further involves calibrating the one or more acceleration vectors from the mobile device frame of reference to a vehicle frame of reference based on the sensor data. The approach further involves providing the one or more calibrated acceleration vectors as an output.

A system and method for a vehicle having a traction battery, an electric machine, and a secondary power source, such as an engine, operate the electric machine and secondary power source to sustain a state of charge (SOC) of the traction battery when the SOC is either: a) below a first threshold and above a second threshold; or b) below a third threshold; and to deplete the SOC of the traction battery when the SOC is between the second and the third thresholds in response to detecting an operating condition associated with high Amp-hour (Ah) throughput of the traction battery, such as towing a trailer. The system and method operate the electric machine and the secondary power source to deplete the SOC when the SOC is above the third threshold and sustain the SOC when the SOC is below the third threshold when the condition is not detected.

A method and a device for determining loads on vehicle's wheels, each with a tire, is disclosed. A deformation measured value and a pressure measured value for each tire, and at least one acceleration measured value for the vehicle are detected. For the respective wheels, dynamic wheel loads are calculated according to a first model and static wheel loads are calculated according to a second model. The second model comprises at least one model parameter calculated by statistical analysis of the calculated dynamic wheel loads, the calculated static wheel loads, and the detected at least one acceleration measured value. The at least one acceleration measured value is redetected and the dynamic wheel loads are recalculated from the previously calculated static wheel loads and the at least one detected acceleration measured value according to the second model using the previously calculated at least one model parameter of the second model.

Provided are a vehicle, a vehicle motion state estimation apparatus, and a method for estimating a vehicle motion state capable of highly accurately estimating a state quantity of a bounce motion of a vehicle having a non-linear suspension characteristic. The vehicle motion state estimation apparatus in a vehicle, in which wheels and a vehicle body are coupled via a suspension, includes a bounce motion estimation unit that estimates and outputs a state quantity of a bounce motion of the vehicle based on traveling state information of the vehicle, and a correction value estimation unit that calculates a correction value to correct an output the bounce motion estimation unit. The correction value estimation unit calculates the correction value in consideration of a non-linear characteristic of the suspension.

A method of controlling a vehicle having wheels provided with tires resting on a surface, the method using a model of the physical behavior of each tire as a function of a sideslip angle (β.sub.ij) for each tire relative to the surface. The model is obtained by implementing an adaptive algorithm that selectively applies an affABREGEine model (Z1), a DUGOFF model (Z2), or a constant model (Z3).

The present invention obtains a controller and a control method capable of appropriately assisting with driving by a rider.

In the controller and the control method according to the present invention, an acquisition section of a controller (60) acquires lateral acceleration information of a traveling straddle-type vehicle (100), and in a control mode in which behavior control operation to make the straddle-type vehicle (100) automatically decelerate or automatically accelerate is performed, an execution section of the controller (60) changes the behavior control operation according to the lateral acceleration information.

A vehicle control system executes vehicle stability control and driving assist control. The vehicle control system calculates an unstable state quantity representing instability of the vehicle and an activation threshold of the vehicle stability control, based on a vehicle state detected by a sensor installed on the vehicle. A state change amount is an amount of increase in the unstable state quantity from an average unstable state quantity that is obtained when a lateral acceleration of the vehicle is within a predetermined range. A threshold change amount is an amount of increase in the activation threshold from an average activation threshold that is obtained when the lateral acceleration is within the predetermined range. When the driving assist control is in execution, the vehicle control system activates the vehicle stability control in response to the state change amount becoming larger than the threshold change amount.

The present disclosure relates to a driver controlling system for a vehicle, a vehicle comprising such a driver controlling system, a driver controlling method for a vehicle and a computer program element for such a driver controlling system.

The driver controlling system comprises a longitudinal control means, a lateral control means and a control unit. The longitudinal control means and the lateral control means are arrangeable in the vehicle. The control unit is configured to determine at least one of a longitudinal adjustment parameter and a later adjustment parameter to propel the vehicle in an automated mode. The control unit is configured to prompt the longitudinal control means to apply the longitudinal adjustment parameter of the vehicle and/or the lateral control means to apply the lateral adjustment parameter in the automated mode. The control unit is further configured to modify at least one of the longitudinal adjustment parameter and the lateral adjustment parameter to be applied in the vehicle by a defined rate of deviation for causing a reaction of the driver.

A travel control device for a vehicle, includes: a lane information acquisition unit configured to acquire lane information; a steering control unit configured to control steering of the vehicle by executing lane travel control to make the vehicle travel along the lane; and a vehicle speed control unit configured to control a vehicle speed by executing constant speed travel control in which the vehicle is made to travel at a set vehicle speed and/or adaptive cruise control in which the vehicle is made to travel at a speed equal to or lower than the set vehicle speed so as to follow a preceding vehicle. The vehicle speed control unit is configured to control the vehicle speed during a turn of the vehicle by setting a vehicle speed upper limit value, which is set to different values depending on whether the lane travel control is being executed.