A control apparatus for an electric vehicle includes a requested torque calculator, a command torque calculator, and a driving controller. The requested torque calculator is configured to calculate requested torque. The command torque calculator includes a change rate adjuster configured to adjust respective upper limit change rates of left command torque and right command torque that follow the requested torque. The change rate adjuster is configured to, on the basis of a predetermined operation of turning back a steering angle performed on a steering unit of the electric vehicle, lower the upper limit change rate of a driving wheel, serving as an inner wheel among left and right driving wheels of the electric vehicle before turning back the steering angle, than the upper limit change rate of the driving wheel, serving as an outer wheel among the left and the right driving wheels before turning back the steering angle.

A drive system for an axle of a motor vehicle can be controlled. The drive system can have at least one drive unit driving a drive shaft, a first output shaft, and a second output shaft, as well as first and second clutches connecting the drive shaft to the first and second output shafts, respectively. A control unit of the drive system controls the clutches to operate at least at certain operating points with a micro-slip control in which a speed differential between the drive shaft and the output shaft of >0 revolutions per minute (RPM) and <50 RPM is set for the respective clutch. A travel state of the motor vehicle can be detected, including detecting: traveling straight ahead and cornering in the pull mode, and a control strategy can be selected and applied for each clutch, wherein the control strategy is different for different travel states.

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.

A vehicle comprising a steering axle, a steering device configured to steer the steering axle, wherein a steering wheel angle can be input via the steering device, wherein the steering wheel angle leadings to a steering angle of wheels of the steering axle, and a quotient of the steering wheel angle to the steering angle defines a steering ratio, a first drive, wherein the first drive allows a wheel-selective distribution of a first torque to the wheels of the steering axle, a second drive, wherein the second drive allows a wheel-selective distribution of a second torque to the wheels of a drive axle, and a controller configured to receive input variables defining driving dynamic variables of the vehicle, wherein the drive dynamic variables allow a change in the steering ratio to ascertained, and the controller outputs control information for distributing the drive torque.

Methods and systems are provided for an improved system and method for validating vehicle lateral velocity estimation. The provided system and method employ an efficient validation algorithm to detect lateral velocity estimation faults. The method and system are robust to road uncertainties and do not require redundant estimations or measurements. The provided system and method offer a technological solution for real time validation of lateral velocity estimation using already existing vehicle sensors, and are independent of (i) road condition information, (ii) wheel torque information, (iii) tire model information, and (iv) tire wear information.

A system for controlling movement of a vehicle includes a user input device and computing system. The user input device dynamically controls a settings or balance of driving dynamics in a vehicle, and the user input device is configured to receive a manual input from a user. The computing system controls the settings of the vehicle driving dynamics and/or balance of the vehicle, the computing system is in data communication with the user input device and configured to change the driving dynamics balance proportionately to the manual input upon receiving an input command based on the manual input from the user input device.

A control system for a drive unit configured to control driving force and braking force integrally is provided. The control system comprises: a sensor that detects vehicle conditions and an operation amount of an accelerator pedal etc.; a brake device that is contacted to an input element of a differential unit or a rotary member attached to the drive motor connected to the differential unit; and a controller. The controller is configured to calculate: a target travelling condition based on the vehicle condition and the operation amount detected by the sensor; target drive torques or target braking torques to be applied to the right wheel and left wheel based on the target travelling condition; output torques of a drive motor and a differential motor based on the target driving torques; and a braking force to be established by the brake device and an output torque of the differential motor based on the target braking torques.

Methods and systems are provided for an improved system and method for validating vehicle lateral velocity estimation. The provided system and method employ an efficient validation algorithm to detect lateral velocity estimation faults. The method and system are robust to road uncertainties and do not require redundant estimations or measurements. The provided system and method offer a technological solution for real time validation of lateral velocity estimation using already existing vehicle sensors, and are independent of (i) road condition information, (ii) wheel torque information, (iii) tire model information, and (iv) tire wear information.

A control system for a vehicle having a first wheel (101) arranged to be driven by a first drive source and a second wheel (101) arranged to be driven by a second drive source, wherein the first wheel and the second wheel are transversely located on the vehicle, the control system comprising a controller (102) and a monitoring device, wherein the monitoring device is arranged to monitor the power differential between the power being applied to the first wheel by the first drive source and the power being applied to the second wheel by the second drive source, wherein upon a determination that the power differential between the power being applied to the first wheel and the second wheel is greater than a predetermined value, the controller is arranged to reduce the power differential.

A vehicle control apparatus for a vehicle including at least two wheel-pairs of right and left wheels includes one or more processors, and one or more memories communicably coupled to the one or more processors. Upon straight traveling of the vehicle, the one or more processors predicts time of generation of a difference in a suspension stroke amount between the right and left wheels in any one wheel-pair out of the at least two wheel-pairs, and reduces driving torque adapted to drive the right and left wheels in the one wheel-pair of the first vehicle at or before the time of the generation predicted.