A method to control, while driving along a curve, a road vehicle with a variable stiffness and with rear steering wheels. The method comprises the steps of: determining an actual attitude angle of the road vehicle; establishing a desired attitude angle; determining an actual yaw rate of the road vehicle; establishing a desired yaw rate; and changing, in a simultaneous and coordinated manner, the steering angle of the rear wheels and the distribution of the stiffness of the connection of the four wheels to the frame depending on a difference between the actual attitude angle and the desired attitude angle and depending on a difference between the actual yaw rate and the desired yaw rate.

A controller and a control method capable of appropriately assisting with a rider's operation while suppressing falling of a motorcycle, departure of the motorcycle from a lane, a difficulty of the motorcycle in adaptive cruise, and the like is disclosed. In the controller and the control method according to the present invention, in a control mode to make the motorcycle perform autonomous cruise acceleration operation, automatic acceleration that is acceleration generated to the motorcycle by the autonomous cruise acceleration operation is controlled in accordance with a lean angle of the motorcycle.

A vehicle dynamics control system receives a feedback state signal including values of a roll rate and a roll angle of the motion of the vehicle and updates parameters of a model of roll dynamics of the vehicle by fitting the received values into the roll dynamics model. The roll dynamics model explains the evolution of the roll rate and the roll angle based on the parameters including a center of gravity (CoG) parameter modeling a location of a CoG of the vehicle, and a spring constant and a damping coefficient modeling suspension dynamics of the vehicle. The system determines a control command for controlling at least one actuator of the vehicle using a motion model including the updated CoG parameter and submits the control command to the vehicle controller to control the motion of the vehicle.

A travel control device for a vehicle executes a self-driving control based on traveling environment information on which the vehicle travels and traveling information on the vehicle. In the device, a traveling environment information acquisition unit acquires the traveling environment information. A traveling information detection unit detects the traveling information. An unstable behavior detector detects an unstable behavior in one or both of a rolling direction and a yaw direction of the vehicle. A steering wheel holding state detector detects a state in which a driver holds a steering wheel. The first unstable behavior reducer reduces the detected unstable behavior by correcting a steering angle. A second unstable behavior reducer reduces the detected unstable behavior by selecting a predetermined wheel and applying a braking force to the wheel. A vehicle behavior controller freely operates the unstable behavior reducers according to detection results.

A rollover alarming system, a rollover risk prediction method, and a rollover alarming method. An axle housing strain measurement unit measures strain values on both sides of an axle housing of a vehicle body. A roll angle measurement unit measures a roll angle of the vehicle body. A collection control unit is configured to collect the strain values on both sides of the axle housing of the vehicle body and the roll angle of the vehicle body, calculate a strain difference between the strain values according to the strain values on both sides of the axle housing of the vehicle body, and output a corresponding alarm control signal according to the strain difference between both sides of the axle housing of the vehicle body and the roll angle of the vehicle body. An alarm unit is configured to output a corresponding alarm signal according to the received alarm control signal.

A method for stabilizing a vehicle (100) in which the vehicle (100) has a roll stabilizer (120), which is designed to stabilize a first axle (101) and a second axle (102) as a function of a roll torque distribution between the first axle (101) and the second axle (102). The method comprises a step of determining a sideslip angle index from a difference between a transverse acceleration calculated from a yaw rate of the vehicle (100) and a speed of the vehicle (100), and a detected transverse acceleration of the vehicle (100). The sideslip angle index is related to a sideslip angle of the vehicle (100). The method also comprises a step of generating a control signal (160) using the sideslip angle index. The control signal (160) is suitable for adjusting the roll torque distribution of the roll stabilizer (120) as a function of the determined sideslip angle index.

Motorcycles can become unstable when operating at high speeds and at high cornering levels. For example, they can exhibit an oscillation at the rear wheel commonly known as “weave.” A system and method is provided which utilizes a high-fidelity computer simulation model of a 2- or 3-wheel motorcycle to predict operating states such as yaw rate, lateral acceleration and roll angle for a stable motorcycle at a given speed and steer angle. The operating state of a physical motorcycle can be measured and compared to that of the model at every instant in time to determine if the operating state of the physical motorcycle differs from that of the simulation model in such a way as to indicate loss of stability. The nature of that difference can then be used to intervene in the operation of the motorcycle independent of driver actions by application of brakes, modulating the engine torque or applying torques to urge the steering system in a corrective direction. Thus by comparing the physical response of the motorcycle to that of the computer model in an on-board controller these interventions can be applied at a time and intensity to stabilize the motorcycle and prevent a loss of control.

A drive and control system is disclosed for use on a zero turn vehicle having a pair of drive motors, an operator drive input capable of providing a drive signal corresponding to a desired drive status by an operator and an operator steering input capable of providing a steering signal corresponding to a desired steering of the vehicle. Sensors on the vehicle generate signals corresponding to roll, pitch and yaw. A stability control module includes a processor receiving the steering and drive inputs and provides output signals to the drive motors. Upon initialization of the vehicle, the processor determines initial orientation parameters from the sensors and determines if the input and steering are in neutral. When the drive input is not in neutral, and the steering is in neutral, the processor determines desired pitch, yaw and roll parameters. The processor receives additional sensor signals during operation to monitor pitch and roll of the vehicle and if a measured parameter exceeds the desired parameter, the processor will vary the output signals to the drive motors to provide a heading correction to the vehicle.

There is provided a two-wheeled vehicle overturn prevention method, wherein maximum allowable lean angles corresponding to vehicle body velocities are preset in relation to lean angles of a vehicle body, and in a case where an actual lean angle of the vehicle body exceeds a maximum allowable lean angle corresponding to an actual vehicle body velocity of the vehicle body or in a case where an estimated lean angle of the vehicle body after a predetermined amount of time exceeds or looks to exceed a maximum allowable lean angle corresponding to an estimated vehicle body velocity, the two-wheeled vehicle overturn prevention method is adapted to accelerate the vehicle body or keep the vehicle body from decelerating.

A vehicle dynamics control system receives a feedback state signal including values of a roll rate and a roll angle of the motion of the vehicle and updates parameters of a model of roll dynamics of the vehicle by fitting the received values into the roll dynamics model. The roll dynamics model explains the evolution of the roll rate and the roll angle based on the parameters including a center of gravity (CoG) parameter modeling a location of a CoG of the vehicle, and a spring constant and a damping coefficient modeling suspension dynamics of the vehicle. The system determines a control command for controlling at least one actuator of the vehicle using a motion model including the updated CoG parameter and submits the control command to the vehicle controller to control the motion of the vehicle.