A device for calibrating two electric motors mounted on one axle in two-axle motor vehicles includes at least one electronic control unit configured to check whether predefined conditions for a switchover from torque control to rotational speed control are met. If met, the at least one electronic control unit is configured to switch to rotational speed control for a predefined period of time. A torque-dependent characteristic map with correction values is created on the basis of this difference. The target torques are corrected by the correction values during torque control after rotational speed control has been deactivated.

A drive force control system to increase a yaw rate greater than the yaw rate achieved by rotating a steering wheel to a maximum angle. A target yaw rate is calculated based on a steering angle of the steering wheel. A first predetermined torque and a second predetermined torque are calculated based on a difference between the target yaw rate and an actual yaw rate. When the steering angle of the steering wheel exceeds a first predetermined angle, a first correction torque to correct the first predetermined torque and a second correction torque to correct the second predetermined torque are calculated n accordance with the steering torque.

A vehicle control apparatus has a steering wheel 6, an engine 4 for outputting a driving force of a vehicle 1, a brake apparatus 16 capable of applying different braking forces to left and right wheels, and a PCM 14 including a processor and the like. When executing vehicle yaw control, which controls the brake apparatus 16 to apply to the vehicle 1 a yaw moment in the direction opposite to the yaw rate generated in the vehicle 1, after executing vehicle attitude control for reducing an output torque of the engine 4 based on a turning operation of the steering wheel 6, when the control amount of the vehicle attitude control is large, the PCM 14 increases the control amount of the vehicle yaw control compared to when the control amount of the vehicle attitude control is not large.

A vehicle control apparatus includes a steering device, a steering controller, a steering input member, a front-rear driving force distribution unit, and a behavior controller. The steering device steers front wheels of a vehicle. The steering controller controls and causes the steering device to perform steering automatically. The steering input member receives a steering operation inputted by a driver. The front-rear driving force distribution unit changes a front-rear driving force distribution ratio. The behavior controller predicts, if a steering operation is performed via the steering input member during the automatic steering, a behavior of the vehicle to be exhibited after steering corresponding to the steering operation, and causes, if an oversteer behavior is predicted to occur, the front-rear driving force distribution unit to change the driving force distribution ratio to a front-wheel biased distribution ratio as compared with a case where the oversteer behavior is not predicted to occur.

A driving method of controlling a vehicle is provided to solve the problem of a repeated wheel slip and deterioration of wheel slip control performance due to a roll motion by controlling the driving force of a vehicle by reflecting vertical load information of tires in real time while the vehicle is turning, to a method that can solve the problem of a repeated wheel slip and deterioration of wheel slip control performance due to a roll motion by controlling the driving force of a vehicle by reflecting vertical load information of tires in real time while the vehicle is turning.

A method for controlling the traveling of a vehicle includes determining, by a control unit, a basic torque command based on vehicle operating information collected during traveling of a vehicle; obtaining, by the control unit, vertical load information of a left wheel and a right wheel of the vehicle in real time during traveling of the vehicle based on information collected in the vehicle; determining, by the control unit, a partial braking amount from the determined real-time basic torque command and the obtained real-time vertical load information; and performing, by the control unit, a partial braking control controlled by an inner wheel braking device so that a braking force corresponding to the partial braking amount is applied to a turning inner wheel among the left wheel and the right wheel.

A method for controlling driving force of a vehicle in which driving force of the vehicle is controlled by pre-reflecting vertical load information of tires in real time during turning of the vehicle, to solve repeated occurrence of wheel slip and wheel slip control performance degradation due to roll motion, includes determining, by a controller, a basic torque command in real time based on vehicle driving information obtained while driving of the vehicle, obtaining information related to left wheel and right wheel vertical loads in real time based on information collected by the vehicle, determining a torque upper limit from the real-time vertical load information, determining a final torque command limited so as not to exceed the determined torque upper limit from the real-time determined basic torque command, and controlling operation of a driving device in accordance with the determined final torque command.

Systems and methods for preventing roll-over of a motor vehicle in the event of a transverse load change. The motor vehicle has an individual-wheel drive designed to drive a wheel that is loaded by the transverse load change independently of the at least one other wheel of the motor vehicle. One methods includes identifying a critical state of the motor vehicle in the event of a transverse load change, applying a drive torque by the individual-wheel drive to the motor vehicle wheel that is loaded by the transverse load change such that the wheel that is loaded by the transverse load change is caused to slip, and steering the motor vehicle wheel that is loaded by the transverse load change in the direction of the direction of travel such that a roll-over of the motor vehicle can be prevented.

A vehicle control system for reducing turn radius of a vehicle may include a controller and a torque control module operably coupled to the controller and to front wheels of a front axle of the vehicle and rear wheels of a rear axle of the vehicle. The controller may also be operably coupled to components and/or sensors of the vehicle to receive information including vehicle wheel speed and steering wheel angle. The torque control module may be operable, responsive to control by the controller, to apply a negative torque to an inside rear wheel during a turn and apply a positive torque to the front axle during the turn to compensate for the negative torque applied to the inside rear wheel to reduce the turn radius based on the steering wheel angle and the vehicle speed.

An attitude control device includes an attitude controller that controls a controlled device such that a traveling attitude of a vehicle is converged to a target attitude, a limiter that limits output of the attitude controller when abnormality is detected in at least one of detectors configured to detect control parameters used by the controlled device or the attitude controller, and a yaw rate detector that detects a yaw rate of the vehicle. The limiter sets a second limit value for a control amount that causes the yaw rate to change in a direction away from 0, to a value smaller than a first limit value for a control amount that causes the yaw rate to change in a direction toward 0.