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.

Methods and system are described for controlling wheel slip of a four wheel drive vehicle. The methods and system may be applied to an electric vehicle or a hybrid vehicle. The method and system provide for operating vehicle propulsion sources in speed and torque control modes to manage wheel slip.

The motor vehicle comprises a first motor configured to drive front wheels; a second motor configured to drive rear wheels; and a control device configured to control the first motor and the second motor, such that the motor vehicle is driven with a required torque for driving. The control device controls the first motor and the second motor to set a larger value to a rear wheel distribution ratio that is a ratio of a torque of the rear wheels to the required torque, when the motor vehicle runs on a low road having a road surface friction coefficient equal to or less than a predetermined value and is currently turned, compared with a value when the motor vehicle does not run on the low road or when the motor vehicle is not currently turned.

A control device for a torque distributor provided with a control means acquiring a demand value of a torque distributed to second driving wheels (W3, W4) using a torque distributor (10) and outputs a command value (TR) of torque corresponding to the demand value of torque. When a variation per unit time (ND) of a differential rotation speed (NS) between a drive source (3) side and a second driving wheel side with respect to the torque distributor in a torque transmission path (20) is a predetermined first threshold (ND1) or more, the control means (60) performs a torque command value limit control controlling the torque command value to a predetermined limit value (TR1) or less. This can secure the running stability necessary for the vehicle by distributing an appropriate torque to the second driving wheels using the torque distributor, while enabling proper protection of components including the torque distributor.

A method and a system for controlling driving of a vehicle according to a driving intent of a driver in a sports mode, may include determining a situation in which whether sporty driving is required for the vehicle due to an output value reflecting a driving state of the vehicle which is driving in a sports mode, and, when the situation is determined as requiring the sporty driving, controlling, by the controller, the clutch mechanism to release a coupling between the front wheel and the front wheel drive motor for the vehicle to drive in a rear wheel drive manner, and the system to which the method is applied.

A system includes a primary control module, a stability status module, and a supervisory control module. The primary control module is configured to determine at least one control action for at least one of an electronic limited slip differential and an aerodynamic actuator of a vehicle based on a driver command. The stability status module is configured to determine whether at least one component of the vehicle is stable or unstable based on an input from a sensor on the vehicle. The at least one component includes at least one of a vehicle body, a front axle, a rear axle, front wheels, and rear wheels. The supervisory control module is configured to adjust the at least one control action when the at least one component is unstable.

A system for controlling torque of a vehicle, such as an eco-friendly vehicle, can improve steering control performance. The system includes a first controller configured to change coast regeneration torque of the vehicle according to whether wheel lock of the vehicle has occurred and whether the vehicle is steerable.

The control device of a four-wheel drive vehicle is applied to a four-wheel drive vehicle having a differential restriction device which can change a differential restriction degree between a front wheel rotary shaft and a rear wheel rotary shaft, a braking device can separately change a braking force of the front wheels and a braking force of the rear wheels. The control device determines whether a specific state which has a high possibility that a state where a rear wheel slip ratio becomes larger than a front wheel slip ratio is generated occurs assuming that the differential restriction degree is set to a first degree when the differential restriction degree is set to a second degree so as not to allow the differential operation and change the differential restriction degree from the second degree to the first degree when it is determined that the specific state has occurred.

A method includes at least the following phases: a first phase wherein a path to be followed is generated, the path being subdivided into a series of sections of which the starting point forms an intermediate position; a second phase wherein, at the current intermediate position of the vehicle: a non-zero curvature is defined for each of the next n prediction horizon sections, the curvature varying progressively from one section to the next; a prediction is made, before the vehicle engages a movement, as to whether the path can be followed to the prediction horizon, as a function of imposed constraints and of the estimated lateral and/or longitudinal slips; a third phase wherein, if the path can be followed, the steering lock angle of the front wheels and the linear traction speed of the vehicle are controlled as a function of the state of the vehicle and of the lateral and/or longitudinal slips to line up the centre of the axle of the rear wheels on the path; if the path cannot be followed, the vehicle is realigned towards the target position and a new reference path is generated according to the first phase.

A system control a vehicle using a friction function describing a friction between a type of surface of the road and a tire of the vehicle as a function of a slip of a wheel of the vehicle. The parameters of each friction function include an initial slope of the friction function defining a stiffness of the tire and one or combination of a peak friction, a shape factor and a curvature factor of the friction function. Upon estimating a slip and a stiffness of the tire, the system selects from the memory parameters of the friction function corresponding to the current stiffness of the tire, determines a control command using a value of the friction corresponding to the slip of the tire according to the friction function defined by the selected parameters, and submits the control command to an actuator of the vehicle.