A method for adjusting an estimated height of the center of gravity (HCOG) value of a vehicle includes concomitant calculations, based on parameters dependent on the HCOG value and parameters independent from the HCOG value. The method further comprises the adjustment of a parameter related to the HCOG value.

Techniques for managing wheel slip in a through-the-road hybrid vehicle comprise detecting a front wheel slip event based on measured rotational speeds of front wheels, determining a likelihood of a subsequent rear wheel slip event, when the front wheel slip event has ended and the likelihood of the subsequent rear wheel slip event satisfies a calibratable threshold, adjusting a front/rear axle torque split and pre-loading at least one of an engine and a belt-driven starter generator (BSG) unit coupled to a crankshaft of the engine to compensate for a torque drop that is predicted to occur during the rear wheel slip event, and re-adjusting the front/rear axle torque split and pre-unloading at least one of the engine and the BSG unit such that a drop in torque output at a front axle aligns with an end of the rear wheel slip event.

A control apparatus of a hybrid leaning vehicle includes: a travel mode request section that requests one travel mode selected from a plurality of travel modes including a first travel mode in which an engine is operated with a clutch disengaged and a second travel mode in which the engine is operated with the clutch engaged; and a travel mode setting section. When the travel mode request section requests the second travel mode during travel in the first travel mode, the travel mode setting section, upon determining that a shock accepting condition is satisfied, sets the second travel mode as the travel mode to be executed and, upon determining that the shock accepting condition is not satisfied, prohibits the second travel mode from being set as the travel mode to be executed.

A vehicle control device including a first driving force controller and a second driving force controller. The first driving force controller executes the first driving force control or the second driving force controller executes the second driving force control, on the basis of the speed of the vehicle, the first vehicle speed limit, and the second vehicle speed limit. The first vehicle speed limit and the second vehicle speed limit change independently of each other.

Operating a drive train of a vehicle with a clutch unit for distributing torque on a primary axis and a secondary axis of the vehicle comprises: a) determining an available drive torque; b) determining excess torque on the primary axis; c) determining an actual maximum torque on the secondary axis; d) determining the excess torque on the secondary axis insofar as the maximum torque is not exceeded.

A vehicle includes an electric machine and a controller. The controller is programmed to responsive to a threshold difference, indicative of wheel slip, between average wheel speed and a vehicle speed that is based on a difference between wheel acceleration and measured vehicle acceleration, command a speed to the electric machine to reduce the wheel slip.

A weight ratio of each driving wheel of the vehicle at the time of automatic driving is calculated, a front and rear distribution ratio of a driving force of the vehicle is calculated from the weight ratio, a rear wheel plan driving force is calculated from the front and rear distribution ratio and an action plan required driving force, and a temperature of a rear wheel motor is estimated. Then, when the estimated attainment temperature of the rear wheel motor is higher than the upper limit value of the temperature, the front and rear distribution ratio is changed within a range in which excessive slip does not occur at the front wheels, the rear wheel plan driving force is recalculated, and the automatic driving of the vehicle is implemented taking the rear wheel plan driving force as a target driving force.

A drive device for an all-wheel drive, two-track motor vehicle, in the drive train of which a first motor vehicle axle and, via a center clutch, a second motor vehicle axle are driven permanently by a drive assembly in driving operation. In the closed state of the center clutch, the second vehicle axle is engaged with the drive train, and, in the open state of the clutch, the second vehicle axle is decoupled from the drive train. In a driving situation with engaged all-wheel drive as well as with axle friction coefficients of varying size, a greater wheel torque can be taken up at the vehicle axle with a large axle friction coefficient than at the vehicle axle with a small axle friction coefficient, and a control instrument is provided, which, for engine torque limitation, limits the drive assembly to a maximum allowed engine torque.

A vehicle includes an all-wheel-drive powertrain having an electric machine configured to power wheels. A controller is programmed to output a first calculated vehicle speed derived from integrating a measured longitudinal acceleration of the vehicle and output a second calculated vehicle speed based on the measured longitudinal acceleration and a speed of one of the wheels. The controller is further programmed to, responsive to a flag being present, command a speed to the electric machine that is based on the first vehicle speed to reduce wheel slip, and responsive to a flag not being present, command a speed to the electric machine that is based on the second vehicle speed to reduce wheel slip.

Provided is control apparatus for an electric vehicle, which is capable of suppressing simultaneous slip of front and rear wheels. The control apparatus for an electric vehicle controls a front electric motor and a rear electric motor so that a difference between a torque command value of the front electric motor and a torque command value of the rear electric motor is larger than a predetermined value.