A method is for determining a side slip angle during the cornering of a vehicle. The following variables are recorded and interlinked via a mathematical vehicle model with assumptions of the linear single-track model: a predetermined or measured position of the center of gravity between a front and rear axle, the current vehicle velocity, a current vehicle cornering motion variable, the current steering angle on the front axle. To simplify the determination of the side slip angle, it is determined under the assumption that the difference between the side slip angle and the Ackermann side slip angle is proportional to the difference between the Ackermann angle and the steering angle. The actual side slip angle is deduced from the relationship of the measured steering angle and the Ackermann angle based on the proportionality relationship of the Ackermann side slip angle theoretically present when driving through the same curve without slip.

A brake control system and method are arranged to control a brake for preventing slip and ensuring driving force of an outer wheel by adjusting a braking amount of an inner wheel during vehicle turning. The method includes steps of: receiving, by an electronic stability control (ESC) device, a function activation request; determining, by the ESC device, whether execution conditions for brake control of a turning inner wheel of a vehicle are satisfied in response to the function activation request, and when the execution conditions are satisfied, controlling braking pressure by determining and adjusting a braking pressure control amount of an inner wheel during vehicle turning based on a preset factor.

A system and a method for preventing instability of a vehicle due to regenerative braking of a rear, may include a first controller configured of distributing braking torque of front and rear wheels for a deceleration level according to a basic regenerative braking distribution ratio on a regenerative brake map on the basis of a driver demand braking amount, and configured of previously reducing a rear-wheel regenerative braking torque of the rear wheel to a first reference value or less than the first reference value in an adjustment section between first and second deceleration; and a second controller connected to the first controller and configured of further reducing the rear-wheel regenerative braking torque to transmit it to the first controller, if a wheel slip value is greater than a reference slip value according to vehicle driving information during braking of the vehicle.

A vehicle includes driven wheels, an actuator operably coupled to the driven wheels by a drivetrain, and a braking system having friction brakes associated with the driven wheels. A controller is programmed to, in response to the vehicle being in a drift mode, decouple the driven wheels from the actuator, engage the friction brakes to lockup the driven wheels, and place the actuator in speed control and command a torque to the actuator based on a difference between a measured speed of the actuator and a target speed of the actuator.

A vehicle includes driven wheels, an actuator operably coupled to the driven wheels by a drivetrain, and a braking system having friction brakes associated with the driven wheels. A controller is programmed to, in response to the vehicle being in a drift mode, decouple the driven wheels from the actuator, engage the friction brakes to lockup the driven wheels, and place the actuator in speed control and command a torque to the actuator based on a difference between a measured speed of the actuator and a target speed of the actuator.

A method for determining a slip angle λ.sub.r of a rear wheel of a single-track motor vehicle for the purpose of traction control of the rear wheel of the single-track motor vehicle by means of a closed loop control Is provided. The slip angle λ.sub.r of the rear wheel is determined as a feedback value of the closed loop using at least one of three model-based steps. A slip angle λ.sub.r1, λ.sub.r2 or λ.sub.r3 is determined by one of the three steps representing the slip angle λ.sub.r or the slip angle λ.sub.r is determined from at least two of the slip angles λ.sub.r1, λ.sub.r2 and λ.sub.r3.

A vehicle control apparatus according to the present invention outputs a signal regarding a target braking/driving force for guiding a vehicle in a target traveling direction to a braking/driving controller. The signal regarding the target braking/driving force is acquired based on information regarding a running route of the vehicle and a physical amount regarding a motion state of the vehicle. The vehicle control apparatus outputs a signal regarding a steering correction torque for correcting a steering torque according to a behavior of the vehicle to a steering force controller. The signal regarding the steering correction torque is acquired based on a vehicle-body slip angle of the vehicle and the target braking/driving force.

An electric parking brake system includes a wheel driven by an electric motor to move a vehicle, a parking brake maintaining the wheel stopped, a parking brake actuator operating the parking brake, and a drive controller controlling the parking brake actuator. The drive controller controls the electric motor to maintain the wheel of the vehicle stopped while the vehicle is parked, and calculates a parking torque based on a control amount of the electric motor that maintains the wheel stopped. The drive controller calculates a necessary braking force for the parking brake to maintain the wheel stopped based on the calculated parking torque, and controls the parking brake actuator so that the necessary braking force is generated.

A vehicle stability control method and a vehicle stability control device are provided. The method may be applied to an intelligent automobile field such as intelligent driving or autonomous driving, and is used to control lateral stability of a front axis and rear axis distributed driven vehicle. In this method, a yawing movement of the vehicle is considered, and an additional yawing moment for maintaining lateral stability of the vehicle is provided by compensating for front-axis and rear-axis slip ratios, to control lateral stability of the vehicle and therefore improve stability of the vehicle during driving.

A vehicle control system includes a controller comprising one or more processors. The controller is configured to determine a respective force exerted on a route segment by a first wheel of a plurality of wheels of a vehicle and obtain a respective available adhesion value for the first wheel at an interface with the route segment. The controller is configured to determine a respective effective adhesion value to utilize for driving rotation of the first wheel. The effective adhesion value is within a designated wheelslip margin relative to the available adhesion value for the first wheel without exceeding the available adhesion value. The controller is further configured to assign a torque setting to rotate the first wheel based at least in part on the respective force exerted on the route segment by the first wheel and the effective adhesion value for the first wheel.