A parking brake fail safety control system and method for a vehicle having an electric-axle, may enable safe parking braking on a level ground, a slope, etc. By controlling the torque from a first motor configured for a rear wheel-first electric-axle and the torque from a second motor configured for a rear wheel-second electric-axle to have the same magnitude in opposite directions and by increasing/decreasing the torque from the first motor and the torque from the second motor, depending on a change of wheel speed when a parking brake fails.

The disclosure is directed at a method and apparatus for an active convertor dolly for use in a tractor-trailer configuration. In one embodiment, the apparatus includes a system to connect a tractor to a trailer. The apparatus further includes a charge generating system for translating the mechanical motions or actions of the dolly into electricity or electrical energy so that this energy can be used to charge a battery or to power other functionality for either the dolly or the tractor-trailer. The active dolly may also operate to assist in shunting the tractor-trailer.

Autoscrubbers are capable of being operated in a manual (e.g. walk-behind) mode and an autonomous (operator free) mode and capable of switching between such operational modes. Apparatus and methods for steering such autoscrubbers use steering torque mechanisms to apply steering torques independently to left and right drive wheels. Steering systems for autonomous operation may be retrofit onto existing walk-behind autoscrubbers to implement this functionality. The autonomous control capability may not detract appreciably from an operator's ability to use the autoscrubber in a manual (walk-behind) mode.

A human-powered vehicle control device includes an electronic controller configured to control an electric component of a human-powered vehicle including a crank and a drive wheel. The electronic controller is configured to control the electric component so as to change at least one of a first ratio of a rotational speed of the drive wheel to a rotational speed of the crank and a second ratio of a drive force assisting propulsion of the human-powered vehicle to the human drive force upon determining a human drive force input to the crank shifts from a first range to outside the first range. The electronic controller is configured to change the first range in accordance with at least one of a state of a rider and a running state of the human-powered vehicle.

An electrified vehicle, system, and method include an electric machine, a traction battery coupled to the electric machine, and a controller programmed to control wheel slip to provide high wheel slip to traverse deformable terrain, such as sand or loose soil, and lower wheel slip to avoid excessive soil removal beneath the wheels after detecting a vertical acceleration or heave event, such as after landing when driving over a jump or bump. When vehicle vertical acceleration exceeds a first threshold, and a ratio of a wheel angular acceleration to vehicle longitudinal acceleration exceeds a second threshold, the electric machine is controlled to limit wheel slip to a lower value that provides sufficient tractive force to maintain some forward motion. Otherwise, the electric machine is controlled to limit wheel slip to a higher value to accommodate higher vehicle speeds over the deformable terrain.

A method of controlling gear shifting in an electric vehicle includes: determining whether or not an electric vehicle travels in an electric vehicle (EV) traveling mode; determining whether or not kick-down gear shifting is required in the EV traveling mode; determining whether or not acceleration linearity control is possible, in a case where the kick-down gear shifting is required; performing correction of a torque of a motor in a case where the acceleration linearity control is possible; and performing gear shifting in a transmission on the basis of the corrected torque of the motor.

An apparatus and method for diagnosing damage to drive-train hardware of a vehicle in which a disconnector may obtain speed of an auxiliary drive wheel motor of the vehicle and speed of a main drive wheel motor of the vehicle and determines damage to the drive-train hardware including the disconnector that controls whether to interrupt delivery of power through engagement or disengagement between auxiliary drive wheel motor-side drive-train hardware and auxiliary drive wheel-side drive-train hardware, based on whether a difference between the speed of the auxiliary drive wheel motor and the speed of the main drive wheel motor exceeds a threshold value, Accordingly, preventing divergence of motor RPM by diagnosing damage to the drive-train hardware of the vehicle.

A vehicle control device includes a processor configured to execute computer-readable instructions to perform. The processor is configured to acquiring a state of a first battery and a state of a second battery, acquiring motor power that is consumed by a motor that outputs motive power for traveling, detecting a rotation state of a drive wheel driven by the motor, calculating a first upper power limit value on the basis of the state of the first battery, calculating a second upper power limit value on the basis of the state of the second battery, and controlling the amount of electric power that is supplied from each of the first battery and the second battery to the motor on the basis of the calculated first and second upper power limit values. The controlling the amount of electric power includes determining whether to compensate for the motor power equivalent to the amount of change or limit compensation for the motor power equivalent to the amount of change when the change in the rotation state satisfies a reference condition.

The motor control unit reduces the drive braking torque for applying the braking force to the drive wheel by the reverse rotation timing predicted by the reverse rotation prediction unit at the latest, and the friction braking unit increases a friction braking force applied to the drive wheel by the friction braking device so that the friction braking force exceeds the braking force provided by the drive braking torque by the reverse rotation timing predicted by the reverse rotation prediction unit at the latest.

A method for improving the force transmission between a wheel of a vehicle and the road is disclosed. The method has the following steps: determining target dynamics of a wheel; and, adjusting the dynamics of the wheel by a driving device of the vehicle by actively applying a torque to the wheel to set the target dynamics. A device, a vehicle, and a computer product are disclosed to execute the method.