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.

A vehicle includes an electric machine and a controller. The controller is programmed to responsive to a threshold difference, indicative of wheel slip, between average wheel speed and a vehicle speed that is based on a difference between wheel acceleration and measured vehicle acceleration, command a speed to the electric machine to reduce the wheel slip.

A traction control device and method for a four-wheel drive electric vehicle are disclosed. When the drive wheels of an electric vehicle spin, a drive force of the electric vehicle is controlled so as to restrain the spinning of the drive wheels and to secure the starting performance and acceleration performance of the electric vehicle.

A control method controls an electric four-wheel-drive vehicle to switch a drive torque distribution between a first distribution prioritizing energy efficiency and a second distribution prioritizing driving performance. The distribution is set to the second distribution where wheel slip is detected during a trip, and returned to the first distribution once the vehicle has stopped. When wheel slip is detected at least during acceleration, the distribution is switched from the first distribution to the second distribution. When wheel slip is detected during deceleration, a slip experience flag is set. The slip experience flag is maintained at least until starting off in a subsequent trip. Where the slip experience flag has been set, the distribution is maintained as the second distribution when the vehicle has stopped, and where the slip experience flag has not been set, the distribution is returned to the first distribution upon the vehicle being stopped.

A control apparatus for a vehicle includes an addition portion that outputs a post-compensation driver request torque, which is acquired by adding a driving torque (a loss compensation driving torque) lost due to a braking torque provided to a wheel on a low-μ road surface side according to a BLSD request hydraulic pressure calculated by a BLSD request hydraulic pressure calculation processing portion to a driver request torque calculated by a driver request torque calculation processing portion, to a motor.

An electrified vehicle disclosed in the present specification includes: a motor configured to rotate a drive wheel of the electrified vehicle; a sensor configured to detect a motor rotation number that is the number of rotations of the motor; and a control device configured to perform feedback control of the motor rotation number based on a value detected by the sensor. The control device is configured to perform during the feedback control a process of extracting a vibration component in a predetermined frequency band from the value detected by the sensor, a process of calculating an integrated value by integrating the extracted vibration component for a predetermined period, and a process of determining whether the calculated integrated value falls within a predetermined abnormal range.

Disclosed are an apparatus and method for controlling autonomous traveling of an independent driving electric vehicle. An apparatus for controlling autonomous traveling of an independent driving electric vehicle according to one aspect of the present disclosure includes a measurement unit configured to measure traveling information of a vehicle, a steering angle controller configured to calculate a steering angle for following a look ahead point based on path information of the vehicle and the traveling information, and control the vehicle according to the steering angle, and a torque vectoring controller configured to calculate a lateral error and an angular error of the vehicle based on the path information and the traveling information, generate a control moment based on the lateral error and the angular error, and control a motor torque of each motor based on the control moment.

A device and a method for controlling regenerative braking of an electrified vehicle includes a drive motor configured for generating power required to drive wheels, and a controller electrically connected to the drive motor, and the controller detects vehicle data when braking the vehicle, determines whether a wheel slip of the vehicle has occurred based on the vehicle data, determines a first regenerative braking amount based on a deceleration and a vehicle model when the wheel slip has not occurred, determines a second regenerative braking amount based on a maximum road surface utilization rate when the wheel slip has occurred, and controls maximum regenerative braking of the drive motor based on the first regenerative braking amount or the second regenerative braking amount.

Methods, apparatus, systems, and articles of manufacture for vehicle turning in confined spaces are disclosed herein. An example apparatus disclosed herein instructions, at least one memory, a processor to execute the instructions to operate a first brake of a first wheel of a vehicle, operate a second brake of a second wheel of the vehicle, determine a frictional coefficient of a driving surface of the vehicle by rotating a third wheel of the vehicle, determine based on the frictional coefficient, if a turn command can be conducted by the vehicle, and when the turn command can be conducted, conduct the turn command.

An object of the present invention is to provide a control apparatus for an electric vehicle capable of preventing the vehicle from being destabilized because a rear wheel is locked first or drivability from reducing because a front wheel is locked early. A control apparatus includes a regenerative braking force calculation portion configured to calculate a regenerative braking force to be generated on each of a front motor and a rear motor based on a request braking force requested to an electric vehicle, a power limit portion configured to reduce the regenerative braking force based on a power limit on a power source, and a frictional braking force output portion configured to output an instruction for generating a frictional braking force according to a regenerative braking force reduction amount, which is an amount of a reduction in the regenerative braking force by the power limit portion, to a brake apparatus.