A vehicle control device for controlling platooning of platoon participating vehicles by connecting the platoon participating vehicles to one another via radio communication, the platoon participating vehicles include a lead vehicle and follow-up vehicles that perform automatic follow-up running in line at a predetermined intervehicle distance from the lead vehicle, the device comprises a control portion that, during execution of the platooning, sets a permissible output range of a drive amount with a current gear ratio of an automatic transmission remaining kept, as a change characteristic of the drive amount in each of the platoon participating vehicles so that change of the drive amount in response to change of a drive demand amount lies within a predetermined range, the automatic transmission being included in each of the platoon participating vehicles to transmit power of a power source to driving wheels.

The present disclosure relates to a method for a torque control of a hybrid vehicle, a storage medium and an electronic device. The method includes: determining a target-total-torque-change-gradient when a limitation requirement for a gradient of torque change of a DCT is received; determining a torque request of an electric motor and an actual-torque-response-change-gradient of an engine; and determining a gradient of torque change of the electric motor according to the target-total-torque-change-gradient and the actual-torque-response-change-gradient of the engine; and filtering the torque request of the electric motor according to the gradient of torque change of the electric motor. The limitation of the gradient of torque change of the DCT is considered, A problem that the actual total torque responses of the electric motor and the engine exceeds the limitation requirement of the gradient of torque change of the DCT is effectively solved, and a drivability of the whole vehicle is improved.

An apparatus and a method estimate backlash and compliance. The apparatus and the method are configured to distinguish and determine the backlash and the compliance occurring in a vehicle driving system. The method includes providing information related to a driving system model between a motor and a driving wheel for driving a vehicle to a controller, determining a compliance speed, by the controller, by using the information related to the driving system model based on vehicle driving information acquired by a driving information detector while the vehicle is driven, and determining a backlash speed, by the controller, by subtracting the determined compliance speed from an overall speed difference that is a difference between a motor speed and a driving wheel speed. The apparatus is configured to perform the method.

An apparatus and a method estimate backlash and compliance. The apparatus and the method are configured to distinguish and determine the backlash and the compliance occurring in a vehicle driving system. The method includes providing information related to a driving system model between a motor and a driving wheel for driving a vehicle to a controller, determining a compliance speed, by the controller, by using the information related to the driving system model based on vehicle driving information acquired by a driving information detector while the vehicle is driven, and determining a backlash speed, by the controller, by subtracting the determined compliance speed from an overall speed difference that is a difference between a motor speed and a driving wheel speed. The apparatus is configured to perform the method.