A vehicle control system which can ensure high reliability, real-time processing, and expandability with a simplified ECU configuration and a low cost by backing up an error through coordination in the entire system without increasing a degree of redundancy of individual controllers beyond the least necessary level. The vehicle control system comprises a sensor controller for taking in sensor signals indicating a status variable of a vehicle and an operation amount applied from a driver, a command controller for generating a control target value based on the sensor signals taken in by the sensor controller, and an actuator controller for receiving the control target value from the command controller and operating an actuator to control the vehicle, those three controller being interconnected via a network. The actuator controller includes a control target value generating unit for generating a control target value based on the sensor signals taken in by the sensor controller and received by the actuator controller via the network when the control target value generated by the command controller is abnormal, and controls the actuator in accordance with the control target value generated by the control target value generating unit.

An electric motor control unit for controlling the operation of an electric motor. The unit comprises: an electric motor controller comprising a processor having at least one input and at least one output, wherein an output of the processor is coupled to a power provider for controlling power to an electric motor; a tilt accelerometer system comprising a tilt accelerometer for determining a measure of the tilt of the electric motor unit relative to a reference orientation, wherein the tilt accelerometer system comprises an output for providing a signal based on the determined measure of the tilt; wherein the output of the tilt accelerometer system is coupled to an input of the processor of the electric motor controller; wherein the power provider comprises a power output for controlling the operation of an electric motor based on the output of the tilt accelerometer system.

An electric vehicle may comprise a board including first and second deck portions each configured to receive a left or right foot of a ride, a wheel assembly disposed between the deck portions and including a ground-contacting element, a motor assembly mounted to the board and configured to rotate the ground-contacting element around an axle to propel the electric vehicle, at least one sensor configured to measure orientation information of the board, and a motor controller configured to receive orientation information measured by the sensor and to cause the motor assembly to propel the electric vehicle based on the orientation information. The electric vehicle may include exactly one ground-contacting element, and the motor may be a hub motor.

An angular acceleration monitor may monitor whether or not an angular acceleration of a wheel detected by an angular acceleration detector is equal to or smaller than an acceptable angular acceleration (W) that is calculated with the following formula: W=k1RTt/m/r.sup.2 where k1 is a constant, Tt is a total drive torque that is a sum of drive torques of all motor units that drive wheels of the vehicle, m is vehicle mass, r is tire radius, and R is reduction ratio of a reducer unit interposed between the motor unit and the wheel. A slip-responsive controller causes, if it is determined that the acceptable angular acceleration is exceeded, a motor controller to reduce a drive torque of the motor unit(s).

There is provided a parking assist system. A motor drives a front wheel. A motor control device controls an output of the motor. A changeover switch changes over a control mode for the motor to an assist mode different from a normal traveling mode. The motor control device is configured to control the output of the motor depending on operation of the changeover switch at the assist mode.

A vehicle gear-shifting control apparatus is equipped with an engine, a motor, an automatic transmission, a friction brake system, and a controller which executes regeneration control and gear-shifting control during deceleration of the vehicle with a braking force to front and rear wheels. The controller increases an input torque of an input shaft according to a downshift so that an accompanying acceleration fluctuation equals a target acceleration fluctuation. When the controller determines an oversteered state during the regeneration control and during a downshift, the controller increases the input torque so that a regenerative braking torque decreases while maintaining a regeneration operation of the motor and, at the same time, the controller causes the automatic transmission to perform the downshift in a state where an amount of increase of the input torque in accordance with the downshift has been increased compared to during a non-determination of the oversteered state.

An electric vehicle includes a yaw rate sensor and a processor. The yaw rate sensor is configured to measure a yaw rate of a vehicle body in a vehicle. The processor is configured to control respective torques of right and left rear wheels coupled to respective motors of the electric vehicle. In a case where a mode that allows the right and the left rear wheels to slip is selected as a traveling mode of the vehicle, the processor is configured to perform a control to suppress one of the torques of the right and the left rear wheels on a basis of the yaw rate measured by the yaw rate sensor.

Dynamic route generation and charger discovery is provided. A system identifies a drive route for a vehicle. The drive route includes a first charger at a first location along the drive route configured to charge a battery of the vehicle. The system receives an indication of an amount of power output by the battery of the vehicle and an indication of a speed of the vehicle as the vehicle traverses the drive route. The system receives the indication via a battery management system of the vehicle. The system predicts, via a model trained with machine learning, a characteristic of the vehicle based on the amount of power and the speed. The system updates, responsive to the characteristic predicted via the model based on the amount of power and the speed, the drive route to include a second charger at a second location to charge the battery of the vehicle.