A vehicle control system may include a sensor network sensing vehicle attitude information and a controller operably coupled to the sensor network to determine, based on the vehicle attitude information, movement of a center of gravity of the vehicle relative to an axis of rotation of the vehicle. The controller may further determine a modification to a torque application of the vehicle based on the movement of the center of gravity of the vehicle relative to the axis of rotation of the vehicle.

An autonomous urban transport vehicle (AUTV) to transport a user, including a tricycle including brakes and steering and a controller. The controller includes an autonomous mode processor to control the brakes and steering when the AUTV is in an autonomous mode. The controller also includes a manual mode processor to control manual mode functions of the AUTV when the AUTV is in a manual mode. The manual mode functions are exclusive of actuation of the brakes and steering.

A vehicle control method includes obtaining a road surface characteristic of a first area, where the first area includes an area into which a vehicle is to travel at a future first moment, determining target torque control information based on the road surface characteristic, and controlling, based on the target torque control information, the vehicle.

A brake device according to an aspect of the present disclosure includes a brake module associated with braking of each of right and left wheels of a first axle of a vehicle, a brake module associated with braking of each of right and left wheels of a second axle of the vehicle, and a controller configured to control the brake modules based on a pedal signal associated with movement of a brake pedal. The controller, based on identifying a failure of at least one of the brake modules, requests regenerative braking of a wheel associated with a brake module with failure from a driving device of the vehicle and controls a braking torque of a brake module without failure, and based on braking torques applied to the left wheels being different from braking torques applied to the right wheels, requests a steering device of the vehicle to steer the vehicle.