A method for validating a model of vehicle dynamics for use in autonomous driving. The method comprising setting a wheel slip limit on an operation of at least one vehicle torque device, obtaining a model of vehicle dynamics based on the set wheel slip limit, and validating the model of vehicle dynamics based on the set wheel slip limit.

The disclosure relates to a method for assisting a towing vehicle in the event of a loss of traction via a trailer vehicle. The method includes determining a differential slip between a driven wheel and a driveless wheel of the towing vehicle via a brake control unit and generating an acceleration demand dependent on the determined differential slip. The method further includes transmitting the acceleration demand to a trailer brake control unit, generating an activation signal for an electric drive of the trailer vehicle in dependence upon the acceleration demand in the trailer brake control unit, transmitting an activation signal to the electric drive of the trailer vehicle and generating a drive torque via the electric drive in dependence upon the activation signal. The disclosure furthermore relates to a towing vehicle, a trailer vehicle, and a combination thereof for carrying out the method.

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 method, device, and computer readable medium for controlling drift of a vehicle. The drift of the vehicle is controlled by acquiring a slip rate level and steering information of the vehicle in a drift mode opening state; determining a target drift parameter according to the slip rate level, the steering information and a current vehicle velocity, the target drift parameter includes a target yaw rate; determining a steering compensation quantity according to a current actual yaw rate and the target yaw rate; determining front axle torque, rear axle torque and rear wheel brake torque according to the steering compensation quantity and the steering information; and controlling the vehicle to drift travelling according to the front axle torque, the rear axle torque and the rear wheel brake torque, and controlling a power-assisted steering motor to perform steering compensation according to the steering compensation quantity and the vehicle velocity.

A vehicle information processing method for calculating a feature related to an operation of a vehicle includes: receiving input information including at least one of information on a driving operation performed on the vehicle, information on an operating state of driver assistance of the vehicle, and information on a behavior of the vehicle; and calculating the feature by using the input information received during a predetermined period in which a predetermined condition is satisfied out of a period in which the input information is received. The predetermined condition includes a condition that a driving situation of the vehicle is a predetermined driving situation corresponding to the feature.

A method is provided for controlling operation of a vehicle having at least one leading wheel axle and at least one trailing wheel axle. The method monitors a wheel slip of the wheels arranged at the at least one leading wheel axle and controls a wheel torque of the wheels arranged at the at least one trailing wheel axle based on: (i) the monitored wheel slip, (ii) a speed of the vehicle relative to the surface, and the distance between the at least one leading wheel axle and the at least one trailing wheel axle.

A computer system comprising processing circuitry configured to handle wheel slip a vehicle is provided. The vehicle comprises a first axle. The first axle comprises at least two wheels. Each of the at least two wheels of the first axle is drivable by at least two hydraulic motors. The processing circuitry is configured to obtain a slip condition of the vehicle. The processing circuitry is configured to, based on the obtained slip condition, trigger an adjustment of pressure and/or flow to be supplied to at least one of the at least two hydraulic motors in the vehicle. Triggering the adjustment comprises triggering an adjustment of pressure and/or flow between at least two hydraulic motors, and/or triggering adjustment of pressure and/or flow supplied by a source.

A control device is provided for operating a road-coupled hybrid vehicle, which is equipped with an electronic control unit, a first drive unit paired with a primary axle, and a second drive unit paired with a secondary axle. The control unit is designed to receive input variables including a specified sum target creep torque and a command to switch over from the single-axle operation to the two-axle operation with a specified all-wheel factor. The control unit sets a specified target torque for an internal combustion engine of the primary axle according to the all-wheel factor and detects the resulting actual coupling torque of the automatic transmission. If the functional module of the control unit ascertains a difference between the actual coupling torque and the sum target creep torque, the functional module specifies a corresponding target torque for an electric drive motor of the secondary axle to compensate for the difference.

A driving force adjusting device includes an input unit configured for receiving an input of a selection distribution ratio, which is a ratio of driving force generation of front wheels and rear wheels selected by a user, a receiving unit configured for receiving driving information of a vehicle, a driving force determination unit configured for determining a driving force distribution ratio, which is a driving force generation ratio of the front wheels and the rear wheels, and determining driving force of the front wheels and the rear wheels using the driving force distribution ratio, and a driving control unit configured for controlling a driving unit generating driving force of the vehicle based on the driving force determined by the driving force determination unit.

A computer system and computer-implemented method for determining a longitudinal slip limit for a steered axle of a vehicle having two steered axles are disclosed. The computer system has processing circuitry to acquire a reference body slip for a steered axle of the vehicle; acquire a current body slip for the steered axle; determine a first difference between the reference body slip and the current body slip; acquire an initial longitudinal slip limit for the steered axle; and determine an adjusted longitudinal slip limit for the steered axle based on the first difference and the initial longitudinal slip limit for the steered axle.