A torque vectoring control device and a method therefor may include a torque vectoring electric device (TVED) that adjusts a ratio of torques distributed to a left wheel and a right wheel using a torque of a torque vectoring control motor (TVCM), and a controller that determines the torque of the TVCM to reduce a difference between speeds of the left wheel and the right wheel when a wheel slip occurs while a vehicle is moving straight, and determines the torque of the TVCM according to handling information of a driver when the vehicle is turning.

Traction control unit interposed between torque allocation unit and torque control unit for left and right wheels and each configured to inhibit a slip of the drive wheel during acceleration or deceleration are provided. A longitudinal force estimation unit for estimating longitudinal forces acting on the respective left and right wheels and longitudinal force coincidence control unit are provided. The longitudinal force coincidence control unit compares absolute values of the longitudinal forces on the left and right wheels estimated by the longitudinal force estimation unit, and provides a driving torque command that generates a longitudinal force equal to the longitudinal force whose absolute value is smaller, to the torque control unit for the drive wheel at which the absolute value is larger.

An apparatus for controlling a vehicle includes a vehicle additional yaw moment calculator that calculates, based on a yaw rate of a vehicle, a vehicle additional yaw moment to be applied to the vehicle independently of a steering system, a slipping condition determiner that makes a determination as to a slipping condition of the vehicle, and an adjustment gain calculator that calculates an adjustment gain to adjust the vehicle additional yaw moment so as to reduce the vehicle additional yaw moment additional yaw moment when the vehicle is determined to be in the slipping condition, and increases the adjustment gain in accordance with a degree of a slip of the vehicle when the vehicle is determined to recover from the slipping condition.

A device for operating an all-wheel-drive agricultural commercial vehicle with a driven rear axle and a front axle that can be engaged for performing an all-wheel-drive mode. A control unit determines, during the all-wheel-drive mode, a front wheel slip parameter that characterizes a drive wheel slip occurring on the front axle of the agricultural commercial vehicle. The control unit deactivates the all-wheel-drive mode independent of the driver if this unit detects that the determined front wheel slip parameter is greater than a specified threshold value.

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.

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 method is for controlling a vehicle having an electric drive for driving wheels. A drive control unit generates a target torque and/or a target rotation speed and outputs them to the relevant drive. The method includes: determining a speed; determining an actual wheel dynamics variable which characterizes the rotational behavior of an individual wheel; determining thresholds associated with the wheels; determining a deviation between the actual wheel dynamics variable and the threshold and, if an impermissible deviation is present: limiting the target torque and/or the target rotation speed for the wheel with the impermissible deviation. If control deviations for the wheels of an axle which are different on different sides are determined, a brake request signal is output by the drive control unit. The limit torque and/or the limit rotation speed is specified/adjusted depending on the braking torque applied by the service brakes.

A vehicle control method and apparatus, a vehicle, and a storage medium are disclosed, and relate to the field of automotive technologies. The method includes: obtaining wheel speeds of two wheels on a first drive shaft of a vehicle, where the first drive shaft is any drive shaft of the vehicle, and output torque of a first motor corresponding to the first drive shaft is first torque; and when a first difference between the two wheels on the first drive shaft is greater than a first safety threshold, controlling, based on slip rates of the two wheels on the first drive shaft, the output torque of the first motor to change from the first torque to second torque, so that the first difference between the two wheels on the first drive shaft is not greater than a second safety threshold.

A method for controlling a starting process of a vehicle includes activating a control sequence and setting a control sequence signal, defining a maximum engine drive torque, and detecting a drive request for a starting process. The method further includes, in response to the drive request, controlling a clutch-gearbox unit with an engagement process duration, controlling wheel slip of driven wheels by determining wheel speeds of the driven wheels and at least setting an output drive torque at the output shaft, and redefining the maximum engine drive torque depending on the wheel slip and a driving speed. The method also includes deactivating the control sequence and resetting the control sequence signal when limit values are reached.