A self-propelled vehicle includes a maneuvering unit, a drive unit including first and second drive sections, which are driven and controlled by drive wheel control commands, a drive wheel unit including left and right drive wheels driven by the first and second drive sections, respectively, at least one caster wheel which is controlled by a caster wheel control command, a bank detector for detecting a degree of bank of the vehicle and a control unit including a drive wheel control section for generating the drive wheel control commands. The control unit further includes a caster wheel control section which generates the caster wheel control command for controlling the steering angle of the caster wheel during a bank traversing travel, based on the bank degree so as to resolve a difference between a target travel and the actual travel which occurs during the bank traversing travel.

The present disclosure provides an apparatus and a method for controlling an engine of a hybrid vehicle. The apparatus includes an environment information collection unit configured to collect traveling environment information of the hybrid vehicle, a determination unit configured to compare the traveling environment information with reference information and determine whether the traveling environment information meets a preset condition, a setting unit configured to set a reference coolant temperature based on the traveling environment information and change the reference coolant temperature based on the traveling environment information when the traveling environment information meets the preset condition, and an engine control unit configured to prevent the engine from operating heating and air-conditioning control of the hybrid vehicle when the traveling environment information meets the preset condition and a coolant temperature is lower than the reference coolant temperature changed by the setting unit.

The present disclosure provides an apparatus and a method for controlling an engine of a hybrid vehicle. The apparatus includes an environment information collection unit configured to collect traveling environment information of the hybrid vehicle, a determination unit configured to compare the traveling environment information with reference information and determine whether the traveling environment information meets a preset condition, a setting unit configured to set a reference coolant temperature based on the traveling environment information and change the reference coolant temperature based on the traveling environment information when the traveling environment information meets the preset condition, and an engine control unit configured to prevent the engine from operating heating and air-conditioning control of the hybrid vehicle when the traveling environment information meets the preset condition and a coolant temperature is lower than the reference coolant temperature changed by the setting unit.

Embodiments for a torque vectoring unit for an electric vehicle are provided herein. In an example, a torque vectoring unit includes an inner rotor, an outer rotor enclosing the inner rotor, and a stator enclosing the outer rotor, with the inner rotor, the outer rotor and the stator being concentrically arranged to one another. The inner rotor is drivingly connectable to a first wheel and the outer rotor is drivingly connectable to a second wheel, and the inner rotor and the outer rotor represent a first electric motor and the outer rotor and the stator represent a second electric motor.

Embodiments for a torque vectoring unit for an electric vehicle are provided herein. In an example, a torque vectoring unit includes an inner rotor, an outer rotor enclosing the inner rotor, and a stator enclosing the outer rotor, with the inner rotor, the outer rotor and the stator being concentrically arranged to one another. The inner rotor is drivingly connectable to a first wheel and the outer rotor is drivingly connectable to a second wheel, and the inner rotor and the outer rotor represent a first electric motor and the outer rotor and the stator represent a second electric motor.

An on-board device controls the speed of the control target train so that the control target train is set to a given speed-controlled state upon reception of an earthquake detection signal, the given speed-controlled state being a state in which the speed of the control target train is set to be equal to or lower than a reduced speed, or the control target train is stopped. A speed control part estimates an estimated position and an estimated timing at which the control target train is set to a speed-controlled state when a given brake is continuously applied, and controls the speed of the control target train based on the positional relationship between the estimated position and a recommended avoiding-train-existence section when there is a time allowance between the estimated timing and the estimated earthquake arrival timing.

An on-board device controls the speed of the control target train so that the control target train is set to a given speed-controlled state upon reception of an earthquake detection signal, the given speed-controlled state being a state in which the speed of the control target train is set to be equal to or lower than a reduced speed, or the control target train is stopped. A speed control part estimates an estimated position and an estimated timing at which the control target train is set to a speed-controlled state when a given brake is continuously applied, and controls the speed of the control target train based on the positional relationship between the estimated position and a recommended avoiding-train-existence section when there is a time allowance between the estimated timing and the estimated earthquake arrival timing.

A system includes a reference speed module and a motor control module. The reference speed module is configured to determine a reference speed range based on a speed of a left wheel of a pair of front or rear wheels of a vehicle and a speed of a right wheel of the pair of front or rear wheels. The right wheel is disconnected from the left wheel. The motor control module is configured to control at least one of a first electric motor and a second electric motor based on the reference speed range. The first electric motor is connected to the left wheel. The second electric motor is connected to the right wheel.

A system includes a reference speed module and a motor control module. The reference speed module is configured to determine a reference speed range based on a speed of a left wheel of a pair of front or rear wheels of a vehicle and a speed of a right wheel of the pair of front or rear wheels. The right wheel is disconnected from the left wheel. The motor control module is configured to control at least one of a first electric motor and a second electric motor based on the reference speed range. The first electric motor is connected to the left wheel. The second electric motor is connected to the right wheel.

A locomotive wireless multi-heading remote distributed power traction operation control system. A set of differential multi-heading control unit (8) is added to a train control and management system of an original locomotive, and is combined and fused with a train control and management system (21), a brake control unit (24), a train safety monitoring device (20), a locomotive logic control unit (23), and a locomotive third-party device (25) to implement wireless multi-heading distributed power traction control operation of locomotives in a heavy haul combined train, and adapt to train multi-heading traction control operation of differential locomotives of a heavy haul combined train or multi-heading operation of different railway locomotives. Also provided is a multi-heading locomotive.