Includes electric motor (330) driving driving wheel (610) , speed control unit (300) controlling driving of electric motor (330) based on instructed speed ω.sub.r*, brake control unit (400) controlling hydraulic brake (500) applying mechanical braking to an electromotive vehicle, speed sensor (340) detecting traveling speed ω.sub.r of the electromotive vehicle, and determination unit (200) determining whether the mechanical braking needs to be applied in response to the difference between instructed speed ω.sub.r* and traveling speed ω.sub.r, and controlling operation of brake control unit (400) based on the determination result. Determination unit (200) determines that mechanical braking needs to be applied when instructed speed ω.sub.r* indicates deceleration and traveling speed ω.sub.r is higher than instructed speed ω.sub.r* , and performs control so that brake control unit (400) works hydraulic brake (500) .

A vehicle control apparatus in a vehicle that includes left wheels, right wheels and brake mechanisms each provided for both. The apparatus includes one or more processors and one or more storage media storing a program causing a brake control process in which brake fluid pressure is applied to the brake mechanisms of one-side wheels, either left or right wheels, to bring the one-side wheels to a locked state under the condition including that the vehicle is in a stopped state or in a substantially stopped state through driver emergency control that is to be applied to the vehicle in response to detection of emergency of a driver who drives the vehicle.

A vehicle control apparatus in a vehicle that includes left wheels, right wheels and brake mechanisms each provided for both. The apparatus includes one or more processors and one or more storage media storing a program causing a brake control process in which brake fluid pressure is applied to the brake mechanisms of one-side wheels, either left or right wheels, to bring the one-side wheels to a locked state under the condition including that the vehicle is in a stopped state or in a substantially stopped state through driver emergency control that is to be applied to the vehicle in response to detection of emergency of a driver who drives the vehicle.

A drive torque control device of a vehicle that includes a drive source for generating a drive source torque, a brake mechanism for generating a braking toque, and a drive wheel for driving the vehicle. The drive torque control device includes a target drive wheel torque calculator configured to calculate a target drive wheel torque, a drive source torque control unit configured to estimate a drive source torque limit value, calculate a target drive source torque based on the target drive wheel torque and the drive source torque limit value, and control the generation of the drive source torque by the drive source based on the target drive source torque, and a braking torque control unit configured to calculate a target braking torque based on the target drive wheel torque and the target drive source torque, and control the generation of the braking torque by the brake mechanism based on the target braking torque.

A vehicle behavior stabilization apparatus 10 as a vehicle control system includes: a selector position sensor 28 configured to detect a selector position selected in accordance with an operation of a selector lever 52, and wheel velocity sensors 30, 31 configured to measure a direction of travel and a traveling velocity |V| of a vehicle 40, and an ESP-ECU 12 configured to execute velocity reducing control that applies a braking force with wheel cylinders 36 in a case where the measured direction of travel is different from a tendency of behavior corresponding to the detected selector position and the measured traveling velocity |V| is larger than a threshold value Vth.

A vehicle behavior stabilization apparatus 10 as a vehicle control system includes: a selector position sensor 28 configured to detect a selector position selected in accordance with an operation of a selector lever 52, and wheel velocity sensors 30, 31 configured to measure a direction of travel and a traveling velocity |V| of a vehicle 40, and an ESP-ECU 12 configured to execute velocity reducing control that applies a braking force with wheel cylinders 36 in a case where the measured direction of travel is different from a tendency of behavior corresponding to the detected selector position and the measured traveling velocity |V| is larger than a threshold value Vth.

Provided is a vehicle control system capable of securing stability even in the event of a collision with a travel-path defining line such as a guardrail. The invention recognizes the travel-path defining line of a travel path from information about an area in a traveling direction of an ego vehicle, recognizes a traveling-direction virtual line extending from the ego vehicle in the traveling direction, and imparts a yaw moment control amount so that a formed angle between the traveling-direction virtual line and the travel-path defining line decreases after the ego vehicle collides with the travel-path defining line.

Provided is a vehicle control system capable of securing stability even in the event of a collision with a travel-path defining line such as a guardrail. The invention recognizes the travel-path defining line of a travel path from information about an area in a traveling direction of an ego vehicle, recognizes a traveling-direction virtual line extending from the ego vehicle in the traveling direction, and imparts a yaw moment control amount so that a formed angle between the traveling-direction virtual line and the travel-path defining line decreases after the ego vehicle collides with the travel-path defining line.

A vehicle control system includes a target drive force calculation unit, an arithmetic unit, a stop holding unit, a power-running-generative drive force calculation unit, and a traveling mode selection unit. The arithmetic unit calculates required drive force and required brake force based on target drive force calculated by the target drive force calculation unit. The arithmetic unit calculates the required drive force by setting the required brake force to stop hold brake force or greater if an engine traveling mode is selected at an immediately preceding timing by the traveling mode selection unit. The arithmetic unit calculates the required brake force by setting the required drive force to less than or equal to power-running-generative drive force calculated by the power-running-generative drive force calculation unit if an electric vehicle traveling mode is selected at the immediately preceding timing by the traveling mode selection unit.

A vehicle control system includes a target drive force calculation unit, an arithmetic unit, a stop holding unit, a power-running-generative drive force calculation unit, and a traveling mode selection unit. The arithmetic unit calculates required drive force and required brake force based on target drive force calculated by the target drive force calculation unit. The arithmetic unit calculates the required drive force by setting the required brake force to stop hold brake force or greater if an engine traveling mode is selected at an immediately preceding timing by the traveling mode selection unit. The arithmetic unit calculates the required brake force by setting the required drive force to less than or equal to power-running-generative drive force calculated by the power-running-generative drive force calculation unit if an electric vehicle traveling mode is selected at the immediately preceding timing by the traveling mode selection unit.