A yaw motion control method for a four-wheel distributed vehicle includes: calculating the steering response of the vehicle in a steady state using a nonlinear vehicle model in reference with an understeering degree while constraining by the limit value of the road surface adhesion condition according to the sideslip angle response and the vertical load change in the steady state, calculating the lateral force response and the self-aligning moment response of the tires in the steady state by a magic tire formula, calculating the required additional yaw moment by using the yaw motion balance equation, reasonably distributing the generalized control force to the four drive motors through the optimization algorithm in combination with the current driving conditions; finally, off-line storing and retrieving the calculation results of the off-line distribution of different vehicle parameters required by different upper layers to distribute the torques to the four drive wheels.

A vehicle control device, a vehicle control method, and a vehicle suitable for an automatic/manual driving mode vehicle that employs brakes capable of controlling braking forces of four wheels. A vehicle control device including a pitch angle adjustment unit that adjusts a pitch angle, which is an inclination of a vehicle generated in the vehicle when braking the vehicle, or a change amount of the pitch angle, the pitch angle adjustment unit adjusting the pitch angle according to a traveling mode of the vehicle instructed by a host controller provided in the vehicle.

A vehicle control device controls a vehicle including a first driving device and a second driving device having a maximum driving force that is smaller than a maximum driving force of the first driving device. The vehicle control device includes a control unit configured to, in a state where the vehicle is driven by a second driving force, if a determination unit determines that there is a step on the route of the vehicle, drive the vehicle by at least a first driving force.

A stability control method of a vehicle includes: determining possibility of broadside collision; as a result of the determining, when the possibility of broadside collision is present, applying a standby hydraulic pressure to a hydraulic brake device; when broadside collision is detected, performing evasion steering using the hydraulic brake device in consideration of a direction of the broadside collision; and performing stability control after the evasion steering is performed.

A control system for a four-wheel drive vehicle configured to improve energy efficiency by avoiding selection of a four-wheel drive mode more than necessary. The control system comprises a controller that shifts an operating mode between a two-wheel drive mode and a four-wheel drive mode. When a control of the prime mover is terminated, the controller detects the operating mode selected by a switch before restarting the control of the prime mover. If the two-wheel drive mode or the four-wheel drive mode was selected by the switch before restarting the control of the prime mover, the controller selects the two-wheel drive mode when restarting the control of the prime mover.

When braking of the electric vehicle is performed, the braking is controlled based on a target braking split ratio which is a target value of the ratio of the braking force that is applied to the rear wheels to a total braking force that is applied to the front and rear wheels. In this case, an initial value of the target braking split ratio is set to a value within an allowable range about a transmission split ratio when braking of the electric vehicle is started while the electric vehicle is being braked by the motor, the transmission split ratio being the ratio of a braking force that is transmitted from a drive shaft to the rear wheels via a driving force split device to a total braking force that is transmitted from the drive shaft to the front and rear wheels via the driving force split device.

Methods and systems are provided for providing off-road capabilities in electric vehicles with a single gear reduction. In one example, when a 44 mode is selected in an electric vehicle, a relationship between motor torque and accelerator pedal position is changed so as to increase the vehicle creep wheel torque. A degree of increase of the creep wheel torque is adjusted as a function of the terrain on which the vehicle is off-roading.

A method of controlling posture of a vehicle is provided to determine a minute tendency of understeer or oversteer of the vehicle and to control the posture of the vehicle when recognizing the minute tendency of the understeer or oversteer while driving the vehicle straight. The includes determining whether torque is applied to drive wheels while driving the vehicle and acquiring equivalent inertia information of a drive system in real time based on drive system operation information in response to determining that the torque is being applied to the drive wheels. The understeer or oversteer of the vehicle is determined from the equivalent inertia information obtained in real-time.

A control apparatus for a four-wheel-drive vehicle is configured to, during braking of the vehicle in a two-wheel-drive state, determine whether or not a degree of a yaw movement for deflecting the vehicle is larger than a predetermined first degree. When the degree of the yaw movement is larger than the first degree, the control apparatus increases a first coupling torque of a first coupling device and a second coupling torque of a second coupling device to a predetermined first torque value which is larger than zero, and controls a ground contact load adjusting device in such a manner that a first ground contact load at a rear wheel at an outer side with respect to the yaw movement becomes larger than a second ground contact load at a rear wheel at an inner side with respect to the yaw movement by a predetermined first load difference or more.

Embodiments of this application disclose a vehicle control method and device, where the method includes: calculating a longitudinal force interference compensation torque and a lateral force interference compensation torque of a vehicle when a flat tire occurs in the vehicle; calculating a feedback control torque of the vehicle; determining an additional yaw moment based on the longitudinal force interference compensation torque, the feedback control torque, and the lateral force interference compensation torque; and controlling, based on the additional yaw moment, a wheel in which the flat tire occurs.