A method for controlling wheel slip of a vehicle includes obtaining operation state information of a driving system, determining the speed of a backlash component between a drive apparatus and a drive wheel of the vehicle based on the obtained operation state information of the driving system, determining a reference speed for controlling wheel slip, determining a control input value for controlling the wheel slip based on a driving system speed, the speed of the backlash component, and the reference speed, using the control input value to determine whether wheel slip occurs, determining a torque correction amount based on the control input value when it is determined that wheel slip has occurred, and correcting a torque command of the drive apparatus according to the torque correction amount.

Systems and methods are provided for adjusting the creep torque to maneuver a vehicle to a target location. In various embodiments, the creep torque adjustment mode is deactivated when the driver changes the direction of travel. The change in direction also causes the parameters of the creep torque control to be reinitiated to their initial values. In various embodiments, the creep torque mode is increased from a low creep towards a target creep. If the driver engages the brakes, the input torque is set to zero, and when the driver releases the brake, the minimum creep torque is set to the value that creep torque had risen to just before the brake was applied. This allows the driver to control the acceleration and speed, by just braking. In various embodiments, the creep control controls reverse creep to aid in hooking up a vehicle to a trailer.

Disclosed is a vehicle control method which comprises the steps of: determining whether or not a squat of a rear end of a vehicle body is equal to or greater than a given level; determining whether or not turning manipulation of a steering device has been made; and, when the turning manipulation of the steering device is determined to have been made, controlling each part of an engine (4) to reduce an output torque of the engine (4), wherein, in response to the determination that the turning manipulation of the steering device has been made, a reduction amount of the output torque of the engine is increased when the squat of the rear end of the vehicle body is equal to or greater than the given level, as compared to when the squat is less than the given level.

The present invention provides a driving assist apparatus, a driving assist method, and a driving assist system capable of realizing driving assist in consideration of a delay in a driver's operation regardless of a configuration of a vehicle. A driving assist apparatus includes a standard running route acquisition portion configured to acquire a standard running route calculated based on curve information ahead of a vehicle that is acquired by an external world recognition portion, and an actuator control output portion configured to acquire a standard vehicle motion amount when the vehicle runs the standard running route, calculate an instruction that guides a motion amount of the vehicle toward the standard vehicle motion amount based on the standard vehicle motion amount and a current vehicle motion amount of the vehicle, and output the instruction to an actuator portion configured to provide at least one of a curving force and a braking force to the vehicle.

A controller for a vehicle is provided. One of a prime mover that drives a front wheel and a prime mover that drives a rear wheel is referred to as a first prime mover, and the other one is referred to as a second prime mover. The controller generates, when a required torque required for a drive wheel of the vehicle is a braking torque, the braking torque from the first prime mover. The controller limits, when the required torque changes from the braking torque to a driving torque, an increase in the driving torque generated from the first prime mover during a set period. The controller generates, from the second prime mover that does not generate the braking torque, the driving torque required during execution of the torque limit process.

A control system for a vehicle that executes a feedback control properly to adjust a speed of a predetermined rotary member to a target speed. A controller is configured to: calculate an amount of change in a torque applied to the rotary member by one of the torque devices, in accordance with operating conditions of the torque devices; and calculate an amount of change in the torque applied to the rotary member by another one of the torque devices, based on a target amount of change in a synthesized torque of the torques of the torque devices and the amount of change in the torque applied to the rotary member by one of the torque devices.

A driving assistance apparatus makes a drive force of a vehicle equal to an erroneous operation coping drive force which is smaller than an ordinary drive force in a period from a satisfaction of an erroneous operation start condition which is satisfied when an accelerator pedal is operated erroneously to a satisfaction of an erroneous operation end condition which is satisfied when the erroneous operation has ended. The erroneous operation coping drive force is set to a first drive force if the erroneous operation start condition becomes satisfied after a reoperation determination time point at which a time threshold elapses from when the erroneous operation end condition became last satisfied. Meanwhile, the erroneous operation coping drive force is set to a second drive force which is greater than the first drive force if the erroneous operation start condition becomes satisfied before the reoperation determination time point.

A system and method for controlling driving of an electronic 4-wheel drive hybrid vehicle appropriately executes torque distribution and compensation to front wheels and rear wheels in each gear position to satisfy driver's requested torque depending on selected driving mode of the electronic 4-wheel drive hybrid vehicle in which an engine and a front wheel motor are connected to the front wheels and a rear wheel motor is connected to the rear wheels, thereby being capable of increasing acceleration performance when a sports mode is selected as the driving mode and realizing acceleration linearity when a comfort mode is selected as the driving mode.

A control device for a vehicle drive unit is configured to control, based on an operating state of a vehicle, a vehicle drive unit having one or more power sources. The control device includes a processor and a storage device. The storage device is configured to store a vehicle front-rear acceleration prediction model being a machine learning model that receives as an input a command torque and outputs predicted acceleration. The processor is configured to: execute a predicted acceleration calculation process using the vehicle front-rear acceleration prediction model; and execute a command torque calculation process to calculate the command torque that minimizes an evaluation function. The evaluation function minimizes a deviation of the predicted acceleration with respect to a target vehicle front-rear acceleration according to a target torque based on the operating state while reducing a deviation of the command torque with respect to the target torque.

A vehicle control apparatus includes an overlapping-prediction determination portion configured to determine whether or not it is predicted that, during execution of a synchronous control for placing a clutch, which is provided between an engine and an electric motor, into an engaged state, a synchronization-completion time point of the clutch overlaps with an inertia phase period in process of a shift control of a transmission, and a torque limitation portion configured, when the overlapping-prediction determination portion determines that it is predicted that the synchronization-completion time point overlaps with the inertia phase period, to execute a torque limitation by which at least one of a torque capacity of the clutch and an output torque of the engine is made smaller than when the overlapping-prediction determination portion determines that it is not predicted that the synchronization-completion time point overlaps with the inertia phase period.