A vehicle control system includes an electric braking control unit that controls a hydraulic pressure generating unit, a behavior control unit that controls each brake mechanism, a front motor control unit and a rear motor control unit that control respective rotating electric machines, and an integrated control unit. The behavior control unit blocks the flow of a working medium of the hydraulic pressure generating unit to each front brake mechanism when a slip has occurred at the front wheels during execution of regenerative braking by the front motor control unit. The electric braking control unit increases the pressure of a pressure medium of the hydraulic pressure generating unit compared to when no slip has occurred at the front wheels.

A method of controlling an electrified vehicle includes determining whether stop control using a motor is possible in a case where a condition for entering stop assist control is satisfied, performing cooperative stop control using the motor and a hydraulic brake upon concluding that the stop control using the motor is possible, and performing independent stop control using the hydraulic brake upon concluding that the stop control using the motor is impossible.

A method for controlling a vehicle system includes determining a vehicle reference speed using an off-board-based input speed and an onboard-based input speed. The off-board-based input speed is representative of a moving speed of the vehicle system and is determined from data received from an off-board device. The onboard-based input speed is representative of the moving speed of the vehicle system and is determined from data obtained from an onboard device. The method includes using the vehicle reference speed to at least one of measure wheel creep for one or more wheels of the vehicle system or control at least one of torques applied by or rotational speeds of one or more motors of the vehicle system.

A processor for a vehicle includes a vehicle yaw moment instruction calculator, and a mode under which yaw moment of the vehicle is controlled. If the vehicle yaw moment instruction value generates the driving forces or the driving torques, the driving forces or driving torques are different between the left and right wheels. If the vehicle yaw moment instruction value generates the braking forces or the braking torques, the braking forces or the braking torques are different between the left and right wheels. The mode operates at least in transit region between daily region and limit region.

A method for controlling a vehicle system includes determining a vehicle reference speed using an off-board-based input speed and an onboard-based input speed. The off-board-based input speed is representative of a moving speed of the vehicle system and is determined from data received from an off-board device. The onboard-based input speed is representative of the moving speed of the vehicle system and is determined from data obtained from an onboard device. The method includes using the vehicle reference speed to at least one of measure wheel creep for one or more wheels of the vehicle system or control at least one of torques applied by or rotational speeds of one or more motors of the vehicle system.

A processor for a vehicle includes a vehicle yaw moment instruction calculator, and a mode under which yaw moment of the vehicle is controlled. If the vehicle yaw moment instruction value generates the driving forces or the driving torques, the driving forces or driving torques are different between the left and right wheels. If the vehicle yaw moment instruction value generates the braking forces or the braking torques, the braking forces or the braking torques are different between the left and right wheels. The mode operates at least in transit region between daily region and limit region.

A method is for estimating coefficients of friction for a vehicle, in particular utility vehicle, which can be driven by an electric drive. The method includes the steps of: operating, with a torque, a wheel of the vehicle, in particular utility vehicle, that is arranged on an underlying surface; ascertaining the slip of the wheel; applying a temporally predetermined excitation torque to the wheel, wherein the excitation torque is applied to the wheel periodically with a frequency; ascertaining a change in slip depending on the excitation torque, wherein the change in slip is ascertained taking into account the frequency; and ascertaining a coefficient of friction on the basis of the change in slip.

A motor drive device having drive controller to control a motor for driving an electric vehicle wheel depending on position of magnetic poles using angle detection value sensed by a motor angle sensor; motor angle estimator to estimate an angle of a motor rotor without a rotation sensor; sensor malfunction determiner to determine malfunction of the sensor; sensor switcher to cause the controller to control using an estimation value of the rotor angle estimated by the estimator instead of the angle detection value sensed by the sensor once the determiner determines that the sensor malfunctions; and start-up rotor angle calculator to calculate an angle of the rotor from a counter electromotive voltage of the motor and to cause the controller to control using the calculated angle, when the motor is started up after stop of the motor in a state where the sensor is determined as malfunctioning by the determiner.

Provided is a motion controlling apparatus for a vehicle that can achieve improvement in drivability, stability, and driving comfort. The apparatus includes a control unit for controlling driving forces of vehicle wheels; a vehicle acceleration/deceleration instruction calculator for calculating an acceleration/deceleration instruction value on the basis of a lateral jerk; a first vehicle yaw moment instruction calculator for calculating a first vehicle yaw moment instruction value on the basis of the lateral jerk; and a second vehicle yaw moment instruction calculator for calculating a second vehicle yaw moment instruction value on the basis of lateral slip information.

A method for controlling braking of a regenerative braking co-operative control system for a vehicle may include detecting, by a controller, whether a brake pedal is manipulated, determining, by the controller, a driver demand braking force, a wheel deceleration, and wheel slip when the brake pedal is manipulated, comparing, by the controller, the determined wheel deceleration value and the wheel slip value with a predetermined threshold deceleration value and a predetermined first threshold slip value, respectively, and determining, by the controller, a maximum road frictional force when the wheel deceleration value is larger than the threshold deceleration value and the wheel slip value is larger than the first threshold slip value and determining a regenerative braking force of driving wheels in accordance with the determined maximum road frictional force.