In one embodiment, an autonomous driving vehicle (ADV) speed following system determines how much and when to apply a throttle or a brake control of an ADV to maneuver the ADV around, or to avoid, obstacles of a planned route. The speed following system calculates a first torque force to accelerate the ADV, a second torque force to counteract frictional forces and wind resistances to maintain a reference speed, and a third torque force to minimize an initial difference and external disturbances thereafter between predefined target speed and actual speed of the ADV over a planned route. The speed following system determines a throttle-brake torque force based on the first, second, and third torque forces and utilizes the throttle-brake torque force to control a subsequent speed of the ADV.

A powertrain system for a machine is described. The powertrain system includes a power source configured to provide a torque output. The powertrain system further includes a first drivetrain coupled to the power source, to drive a first set of ground engaging members, and a second drivetrain coupled to the power source to drive the second set of ground engaging members. The powertrain system further includes a controller having one or more lug curve maps defining a maximum allowed torque value of the power source for a current operating condition of the machine. The controller is configured to determine a parasitic load due to the second drivetrain, and adjust the torque output of the power source based on the determined parasitic load to maintain a rimpull performance of the machine, where the adjusted torque output is limited by the maximum allowed torque value.

A method for controlling an electric rear axle drive (eRAD) includes, responsive to a vehicle being in DRIVE, operating the eRAD such that any torque output by the eRAD to drive rear wheels forward is less than torque output to drive front wheels forward. The method further includes, responsive to the vehicle being in REVERSE, operating the eRAD such that torque output by the eRAD to drive the rear wheels backwards is more than any torque output to drive the front wheels backwards.

A vehicle includes a first axle, second axle, driveshaft, engine, clutch, and controller. The first and second axles are coupled by the driveshaft. The engine is configured to generate torque in the first axle. The clutch is configured to disconnect an output of the second axle. The controller is programmed to, in response to release of the clutch resulting in an increasing commanded torque to the first axle being greater than a threshold, decrease an engine torque such that a first axle torque is less than the threshold.

A through the road (TTR) hybridization strategy is proposed to facilitate introduction of hybrid electric vehicle technology in a significant portion of current and expected trucking fleets. In some cases, the technologies can be retrofitted onto an existing vehicle (e.g., a truck, a tractor unit, a trailer, a tractor-trailer configuration, at a tandem, etc.). In some cases, the technologies can be built into new vehicles. In some cases, one vehicle may be built or retrofitted to operate in tandem with another and provide the hybridization benefits contemplated herein. By supplementing motive forces delivered through a primary drivetrain and fuel-fed engine with supplemental torque delivered at one or more electrically-powered drive axles, improvements in overall fuel efficiency and performance may be delivered, typically without significant redesign of existing components and systems that have been proven in the trucking industry.

A controller for a driving force transmitting apparatus mounted in a four-wheel-drive vehicle, includes: a driving force controller configured to calculate a command torque indicating a driving force to be transmitted to the sub-drive wheels via the driving force transmitting apparatus based on a traveling state of the four-wheel-drive vehicle and a road surface condition, and to control the driving force transmitting apparatus based on the command torque; and a road surface condition determiner configured to determine that the road surface condition is a high- condition when a duration of a non-slipping state where a vehicle speed is equal to or higher than a prescribed value and a slip ratio of each of both the main drive wheels is lower than a prescribed value has become equal to or longer than a prescribed time.

A method for controlling gear shifting of a working machine includes determining a representation of a first total tractive force of the working machine for the entire set of drive units; initiating a procedure for redistributing the tractive force while maintaining the first total tractive force, including decreasing, at least partly towards a level suitable for shifting gear, the torque and tractive force of at least the first drive unit down, and increasing, in a compensational manner, the torque and tractive force of at least one of the other drive units not subject to gear shifting; monitoring, during the redistribution procedure, a representation of a second total tractive force of the working machine for the other drive units not subject to gear shifting, and, provided that the second total tractive force exceeds a threshold limit that forms a function of the first total tractive force: decreasing the torque and tractive force of at least the first drive unit down to the level suitable for shifting gear and performing gear shifting for at least the first drive unit.

The present disclosure relates to systems and methods of automatically distributing powertrain demand between tandem drive axles in a tandem drive axle system for balanced tire wear between the tandem drive axles. Examples described herein analyze input signals collected from various vehicle sensors about operating conditions of the front and back tandem drive axles, and automatically bias a distribution of torque demand between the front and back tandem drive axles to correct for asymmetric wear based on known normal wear of the tires under like operating conditions.

The present invention obtains a controller and a control method capable of achieving appropriate cornering during adaptive cruise control of a straddle-type vehicle. In the controller and the control method according to the present invention, during the adaptive cruise control in which the straddle-type vehicle is made to travel according to a distance from the straddle-type vehicle to a preceding vehicle, motion of the straddle-type vehicle, and a driver's instruction, at least one of braking force distribution, which is distribution of braking forces generated on wheels of the straddle-type vehicle to the front and rear wheels, and drive power distribution, which is distribution of drive power transmitted to the wheels of the straddle-type vehicle to the front and rear wheels, is controlled on the basis of lateral acceleration of the straddle-type vehicle.

The present disclosure relates to systems and methods of automatically distributing powertrain demand between tandem drive axles in a tandem drive axle system for balanced tire wear between the tandem drive axles. Examples described herein analyze input signals collected from various vehicle sensors about operating conditions of the front and back tandem drive axles, and automatically bias a distribution of torque demand between the front and back tandem drive axles to correct for asymmetric wear based on known normal wear of the tires under like operating conditions.