A method for controlling driving of a vehicle, can control driving of a vehicle so that handling responsiveness may be differentiated in correspondence to a vehicle driving mode, steering input information by a driver, etc. The method for controlling driving of a vehicle distributes a request torque command into a left wheel torque command and a right wheel torque command, corrects the distributed torque commands using a differential control amount according to a vehicle driving mode and steering input information by a driver, and then performs torque command follow control for controlling torque which is applied to the wheels based on the post-correction torque commands.

A method to control a road vehicle with an electronically controlled self-locking differential when driving along a curve; the control method includes the steps of: determining an actual attitude angle of the road vehicle; determining a desired attitude angle; and changing the locking of the self-locking differential based on the difference between the actual attitude angle and the desired attitude angle.

A vehicle includes motors each configured to drive a front wheel of the vehicle, an electronic limited slip differential (eLSD) between rear wheels of the vehicle, and a controller to, responsive to vehicle turning and a power of each of the motors being less than a maximum value, alter operation of the motors to increase a difference between the powers. Otherwise, the controller operates the eLSD to bias torque toward one of the rear wheels.

The present disclosure provides an emergency braking system, an emergency braking method and a semitrailer, capable of improving the braking effect of the vehicle, thereby achieving improved safety for the vehicle. The system includes: a sensor component configured to collect sensed information on an environment where a semitrailer is located; and a braking controller configured to determine whether there is a risk of collision for the semitrailer based on the sensed information, and if so, calculate a maximum adhesive force that can be provided by a road surface the semitrailer is currently on, determine a first braking pressure corresponding to each wheel based on the maximum adhesive force and axle load information, and transmit to a braking system a first braking instruction carrying the first braking pressure for each wheel.

An automatic tilting vehicle includes a pair of wheels that are non-steering driving wheels, a braking/driving device, a vehicle tilting device, and a control device, and the control unit calculates a target tilt angle of the vehicle for tilting the vehicle turning inward and controls the vehicle tilting device so that a tilt angle of the vehicle becomes the target tilt angle. The control unit calculates target braking/driving forces of the pair of wheels based on a braking/driving operation of a driver, corrects the target braking/driving forces so that a difference between vertical forces acting on the wheels caused by the braking/driving forces of the pair of wheels is reduced, and controls the braking/driving device such that braking/driving forces of the pair of wheels becomes the corrected target braking/driving forces.

A method for controlling gear shifting of a working machine includes determining a representation of a first total tractive force of the working machine for the entire set of drive units; initiating a procedure for redistributing the tractive force while maintaining the first total tractive force, including decreasing, at least partly towards a level suitable for shifting gear, the torque and tractive force of at least the first drive unit down, and increasing, in a compensational manner, the torque and tractive force of at least one of the other drive units not subject to gear shifting; monitoring, during the redistribution procedure, a representation of a second total tractive force of the working machine for the other drive units not subject to gear shifting, and, provided that the second total tractive force exceeds a threshold limit that forms a function of the first total tractive force: decreasing the torque and tractive force of at least the first drive unit down to the level suitable for shifting gear and performing gear shifting for at least the first drive unit.

A yaw moment control apparatus for a vehicle which comprises a rear wheel driving torque transmission path that transmits the driving torque of a drive unit to left and right rear wheels, the path including a speed increasing device for increasing speed of the rear wheels relative to the front wheels, and clutches that change transmission capacities of driving torques to the left and right rear wheels, and a control unit for controlling fastening forces of the clutches. The control unit controls the fastening forces based on a lateral acceleration of the vehicle to impart a yaw moment by a driving torque difference between the wheels to the vehicle when traveling control of the vehicle by applying braking forces to the wheels is not being performed, and to impart no yaw moment by a driving torque difference to the vehicle when traveling control of the vehicle is being performed.

A traction control system is provided for a vehicle having wheels driven on a primary axle via an engine, and wheels on a secondary axle torsionally isolated from the engine. Wheel speed sensors and brakes are provided for each wheel. A motor/hydraulic pump is operatively associated with each secondary axle wheel for selectively powering the secondary axle wheel or being regenerativly powered by the secondary axle wheel for regenerative braking. A clutch is provided to connect each secondary axle wheel with the secondary axle wheel's motor/hydraulic pump. An accumulator is provided to hydraulically power the secondary axle wheels and to accept regenerative pressure from the secondary axle wheel's motor/hydraulic pump. A wheel valve is provided for each respective secondary axle wheel for selectively connecting the secondary axle wheel's motor/hydraulic pump with the accumulator. A controller is provided to control the primary axle and secondary axle wheels. The controller commands braking and powering of the primary and secondary axle wheels during low traction events.

Drive device for a motor vehicle, includes a differential for distributing a torque that can be supplied via a drive shaft to two output shafts and a superimposition gear coupled with the differential one of the output shafts and an additional motor for superimposing torques supplied from the output shaft, from the differential and from the additional motor, wherein the differential is coupled via a torque reducing transmission ratio device with the superimposition gear, wherein the superimposition gear includes a switching device that can be controlled with a control device, wherein the superimposition gear superimposes in a first switching mode torques supplied to the switching device from the output shaft.

An object of the invention is to realize an M+ control which is suitable to a driving scene without depending on pedal operation information of a driver. A vehicle motion control device according to the invention sets an absolute value of deceleration generated in the vehicle in a period in which the lateral motion of the vehicle is predicted to be changed from a state where the vehicle takes the lateral motion to a state where the vehicle does not take the lateral motion to be smaller than that generated in a period in which the lateral motion of the vehicle is predicted to be changed from a state the vehicle takes one of right and left lateral motions to a state where the vehicle takes the other lateral motion.