A behavior control apparatus for an electric vehicle includes a torque balancing unit that sets a distribution between a front wheel driving torque and a rear wheel driving torque according to a target yaw rate; sets the distributed front wheel driving torque to a target front wheel driving torque and sets the distributed rear wheel driving torque to a target rear wheel driving torque in a case where the distribution ratio of the rear wheel driving torque to the front wheel driving torque is less than a limit value; and sets the target front wheel driving torque and the target rear wheel driving torque in a manner that a braking force is produced at least on the rear wheel in a case where the distribution ratio of the rear wheel driving torque to the front wheel driving torque is equal to or more than the limit value.

A vehicle includes a main drive unit, a sub drive unit, and a control unit. The main drive unit includes a main drive rotary electric machine. The sub drive unit includes a sub drive rotary electric machine. The control unit includes a driving force distribution ratio setting unit configured to set a driving force distribution ratio between the main driving force and the sub driving force and is configured to control the outputs of the main drive unit and the sub drive unit so that the main driving force and the sub driving force have the driving force distribution ratio set by the driving force distribution ratio setting unit. The driving force distribution ratio setting unit is configured to set the driving force distribution ratio to minimize electric power loss of the vehicle based on a vehicle speed of the vehicle and a required driving force of the vehicle.

A vehicle includes a main drive unit, a sub drive unit, and a control unit. The control unit includes a driving force distribution ratio setting unit and is configured to control the main drive unit and the sub drive unit. A drive mode of the main drive unit includes an electric power drive mode and an engine drive mode. The driving force distribution ratio setting unit is configured to set the driving force distribution ratio based on a vehicle speed, a required driving force, and the drive mode. When the drive mode is the engine drive mode, the driving force distribution ratio setting unit is configured to set the driving force distribution ratio so that a distribution ratio of the main driving force is 90% or more.

Methods and systems are provided for operating a driveline of a four wheel drive vehicle that includes a high gear ratio and a low gear ratio. The driveline may be operated to shift between the high gear ratio and the low gear ratio while the four wheel drive vehicle is moving. In one example, a clutch is opened during shifting from the high gear ratio to the low gear ratio, which allows the vehicle to continue traveling during the gear ratio change.

Systems and methods are provided herein for operating a vehicle in a K-turn mode. The K-turn mode is engaged in response to determining that an amount that at least one of the front wheels of the vehicle is turned exceeds a turn threshold. While operating in the K-turn mode, forward torque is provided to the front wheels of the vehicle. Further, backward torque is provided to the rear wheels of the vehicle. Yet further, the rear wheels of the vehicle remain substantially in static contact with a ground while the front wheels slip in relation to the ground.

A method of distributing driving force of a four wheel drive (4WD) eco-friendly vehicle includes determining a first allowable range of driving force for each driving force based on determination of travel stability, determining a second allowable range of driving force for each driving wheel based on system limitations of at least one of the first driving source or the second driving source, determining a range of available driving force of the first driving wheel based on the first allowable range of driving force and the second allowable range of driving force, determining first target driving force of the first driving wheel in consideration of efficiency of the first driving source within the range of available driving force, and determining second target driving force of the second driving wheel based on the first target driving force and requested torque.

The present disclosure provides a method of controlling driving of a vehicle by estimating a road frictional coefficient, the method including distributing torque to a front wheel and a rear wheel to satisfy required torque for driving, by a controller, in a four-wheel drive (4WD) vehicle including a front wheel driving device and a rear wheel driving device installed therein, and performing torque excitation control for increasing torque applied to one of the front wheel and the rear wheel to which the torque is distributed while the vehicle is driven, and simultaneously, changing torque applied to a remaining one of the front wheel and the rear wheel in such a way that the sum of front wheel torque and rear wheel torque satisfies required torque, by the controller.

A method of brake steering in a four-wheel drive utility vehicle having a driven front axle carrying at least two front wheels, a driven rear axle carrying at least two rear wheels, a powertrain delivering torque to the front and rear axles via a connecting shaft, a controlled clutch arrangement in the connecting shaft operable to vary the distribution of delivered torque between the front and rear axles, and independently operable service brakes on each of the front and rear wheels. The method comprises, on the vehicle entering a turn, applying the service brakes of the front and rear wheels on the inside of the turn and adjusting the clutch arrangement to adapt the share of the available torque between the front and rear axles. Additional braking force may be applied from independently operable park brakes on the rear wheels in inverse relationship to the level of service brake force applied.

A drive-force control apparatus for a vehicle including a first drive apparatus for driving a first pair of wheels and a second drive apparatus for driving a second pair of wheels. Each of the first pair of wheels is one of front and rear wheels of the vehicle, and each of the second pair of wheels is the other of the front and rear wheels. During running of the vehicle on a wave-like road, the control apparatus reduces a drive-force share ratio of one of the first and second drive apparatuses, and to increases a drive-force share ratio of the other of the first and second drive apparatuses, wherein the one of the first and second drive apparatuses includes a weakest part that is to be damaged the most easily among parts composing the first and second drive apparatuses, by resonance caused by the running on the wave-like road.

The present invention relates to a controller for controlling at least first and second propulsion units to generate a combined torque at least substantially equal to a total requested torque. At least first and second torque ranges are determined for each of the at least first and second propulsion units. The at least first and second torque ranges are determined to maintain dynamic stability of the vehicle. A total power cost is determined in dependence on an estimated power loss of the at least first and second propulsion units within said at least first and second torque ranges and a minimum value of the determined total power cost identified. The torque to be generated by each of said at least first and second propulsion units corresponding to the identified minimum value of the total power cost is determined. At least first and second control signals are generated to control said at least first and second propulsion units to generate the determined torque. The present invention also relates to a vehicle incorporating the controller and a related method.