A monitor unit of a vehicle acquires an object left-right difference parameter corresponding to a command left-right difference parameter or corresponding to a measurement left-right difference parameter. The monitor unit compares the object left-right difference parameter and a first left-right difference threshold. If the object left-right difference parameter exceeds a first left-right difference threshold, the monitor unit limits the motive power of a first rotary electric machine and a second rotary electric machine.

The invention concerns a method for operating a motor vehicle with selectable all-wheel drive. The all-wheel drive is implemented with no central differential and the rear axle is implemented with no axle differential. The motor vehicle includes first and second partial clutches for independently decoupling left and right rear wheels from the drive train of the motor vehicle motor vehicle. The method includes determining a value that is representative of a ratio of the speeds of the front wheels to each other, comparing the value with a reference value, and disengaging the partial clutch that is associated with an outer rear wheel when the motor vehicle is turning, when the value is greater than the reference value, in order to prevent negative torques on the outer rear wheel.

A control apparatus of a self-driving vehicle with a self-driving capability including a slip detector detecting a slip generated at four drive wheels, a direction detector detecting a direction of a vehicle body, and a microprocessor and a memory. The microprocessor is configured to perform: calculating target torques of the four drive wheels in accordance with an action plan; correcting the target torques so as to decrease the target torque of the first drive wheel when the slip of the first drive wheel is detected, and thereafter so as to increase the target torque of the second drive wheel and decrease the target torque of the fourth drive wheel when a deviation of the detected direction from a target traveling direction is greater than or equal to a predetermined deviation; and controlling a driving part in accordance with the corrected target torque.

Methods and systems are provided for operating a driveline of a hybrid vehicle that includes an internal combustion engine, an electric machine, and a transmission are described. In one example, regenerative torque and torque of an electronically controlled differential clutch are adjusted to increase utilization of a vehicle's kinetic energy.

A method and system for controlling the stability and yaw response of a vehicle being equipped with a front axle (24), a rear axle (26), a controllable differential (22) and a control unit (50) arranged for locking and unlocking the differential (22), the method includes: selectively locking or unlocking the differential (22) depending on the operation of the vehicle; measuring at least the longitudinal vehicle speed (v); comparing the measured vehicle speed (v) with a predetermined first reference speed (v.sub.H); and locking the differential (22) if the measured vehicle speed (v) exceeds the first reference speed (v.sub.H).

Disclosed herein are systems, gearing assemblies, and methods for controlling a differential rotation rate between shafts of a vehicle using a variable speed motor. An embodiment includes a gearing assembly including a differential configured to engage a first axle shaft, a second axle shaft, and a drive shaft of a vehicle. The gearing assembly further includes a plurality of adjustment gears configured to engage the differential, configured to be driven by a variable speed motor of the vehicle, and configured to controllably alter a rotation of the first axle shaft relative to the second axle shaft based on rotation produced by the variable speed motor. The plurality of adjustment gears includes a subassembly of planetary gears including a planetary gear carrier, a first set of planetary gears coupled to the planetary gear carrier, and a second set of planetary gears coupled to the planetary gear carrier.

An apparatus for controlling a four-wheel drive vehicle includes a tire friction circle calculator that calculates the size of a tire friction circle of each wheel on the basis of vehicle information including a tire vertical load, a resultant force calculator that calculates the magnitude of a resultant force of tire lateral and longitudinal forces for each wheel, a tire-friction-force usage rate calculator that calculates a tire-friction-force usage rate of each wheel that is the ratio of the magnitude of the resultant force to the size of the tire friction circle, and a driving-braking force adjustment controller that adjusts driving force or braking force applied to each wheel. When the tire-friction-force usage rate of any wheel exceeds a predetermined threshold of less than one, the driving-braking force adjustment controller restrains an increase in the driving force or the braking force of the wheel while increasing the driving force or the braking force of at least one of the other wheels that is selected on the basis of driving operation information indicative of the state of a driving operation by a driver.

A motor vehicle comprising at least one pair of wheels aligned to each other and placed on respective opposite sides of the motor vehicle, control means configured to adjust at least one control variable corresponding to an operative state of the wheels, and a steering wheel to steer the motor vehicle, characterized in that the control means comprise a control device arranged on the steering wheel and coupled to the steering wheel in a movable manner relative to the steering wheel to be manipulable by a driver of the motor vehicle to command an adjustment of the one or more control variables.

In one example, a hybrid drive unit comprises an electric motor, an axle differential for connection with a further motor, a first axle half shaft and a second axle half shaft connected to the axle differential, a first clutching device and a second clutching device. The electric motor is selectively drivingly engagable with the first axle half shaft via the first clutching device and with the second axle half shaft via the second clutching device.

A system and to a method executed in a vehicle control unit for controlling wheel slip of a vehicle, wherein the vehicle comprises at least two wheels driven by at least primary actuator via an open differential. The primary actuator is controlled to rotate at a speed resulting in a slip .sub.em of the primary actuator. A signed wheel slip limit .sub.lim is determined by adding a configurable value to the slip .sub.em of the primary actuator, such that .sub.lim>.sub.em. The at least two wheels are controlled to rotate at wheel speeds resulting in respective wheel slips .sub.l, .sub.r below the signed wheel slip limit .sub.lim, wherein each one of .sub.l, .sub.r and .sub.em are signed numerical values.