An automotive vehicle includes an actuator configured to control vehicle steering, a sensor configured to detect a yaw rate of the vehicle, and a controller. The controller is configured to estimate a yaw rate and lateral velocity of the vehicle via a vehicle dynamics model based on a measured longitudinal velocity of the vehicle, calculated road wheel angles of the vehicle, and estimated tire slip angles of the vehicle. The controller is configured to receive a measured yaw rate from the sensor, and to calculate a difference between the measured yaw rate and the estimated yaw rate. The controller is configured to apply a model correction to the vehicle dynamics model using a PID controller based on the difference, and to estimate a vehicle position based on the estimated lateral velocity and the measured longitudinal velocity. The controller is configured to automatically control the actuator based on the vehicle position.

A vehicle start control method includes: a condition determination step of determining, by a controller, whether or not it is necessary to control an engine torque in addition to a slip control of a clutch when a vehicle has started moving; and an engine control step of controlling, by the controller, the engine torque according to an engine error revolutions per minute (RPM) which is a difference between a target engine RPM and an actually measured engine RPM, when it is necessary to control the engine torque in addition to the slip control of the clutch.

An autonomous parking control device executes vehicle traveling control that calculates a command value of a propulsive force based on an operating state, and moves the vehicle to a target position autonomously by controlling a propulsive force generating device in accordance with the command value. The control device executes an additional command value varying process of adding a predetermined additional command value to the command value when the vehicle stops due to the propulsive force being insufficient during the vehicle traveling control, and decreasing or keeping the additional command value by a predetermined degree of suppression, when the vehicle which is stopped is started. Here, when executing the additional command value varying process in the first position far from the target position, the degree of suppression is set to be smaller as compared with a case of executing the process in a second position close to the target position.

A motor vehicle parking assist system is for parking the vehicle moving from a traffic lane towards a vacant parking space and leaving the parking space to move towards the traffic lane. The parking assist system includes a module for determining the vehicle acceleration, which module is suitable for delivering a set point value for acceleration depending on the vehicle speed and on the distance from an obstacle and a torque regulating module suitable for calculating a set point value for braking torque and a set point value for engine torque depending on the set point value for acceleration, the vehicle speed, and for the road gradient.

The invention relates to a method for decelerating a vehicle (10) moving at low speed (vV), in particular by using a hydraulically or pneumatically operated braking system (26), with the following steps: determining, by means of the speed sensor (32), whether the speed (vV) of the vehicle (10) falls short of a predeterminable first limiting value (vC1); if the speed (vV) of the vehicle (10) falls short of the first limiting value, increasing the propulsion torque (MA) transmitted to the drive train (18); and decelerating the vehicle (10) by increasing the braking torque (MB) acting on the wheels (20) by means of the controller (36).

An electromechanical power transmission chain comprises an electric machine (110) mechanically connectable to a combustion engine (111) and to one or more actuators (114) to be driven, an energy-storage (118) for storing electric energy, converter equipment (115) for driving the electric machine in a torque controlled mode when transferring electric energy between the electric machine and the energy-storage, and a device (101) for producing a torque reference for the electric machine. The device produces a control value based on electric energy stored by the energy-storage so that the control value is a decreasing function of the stored electric energy, and produces the torque reference based on a difference between the control value and a control signal indicative of torque produced by the combustion engine.

An active compensation algorithm for an inertia force of on-board equipment and a damping device are provided. The algorithm includes the following steps: a compensation angle acquisition step: acquiring an expected real-time inertia force compensation angle of a damped target when a vehicle takes a sudden turn or emergency braking based on velocity information, acceleration information, and angular velocity information of a vehicle chassis; and a control step: adjusting an angle of a damping motor by adopting a control algorithm according to the real-time inertia force compensation angle, where the damping motor keeps pace with the expected inertia force compensation angle in real time. The active compensation algorithm for the inertia force of on-board equipment can calculate the inertia force compensation angle of the vehicle in real time, so as to achieve a better inertia force compensation function to the damped target through the damping motor.

A vehicle control apparatus includes an electronic control unit. The electronic control unit is configured to perform feedback control of a motor such that a torque is output for stopping a crankshaft at a target angle. A first angle is used as the target angle during a first period from start of the feedback control to first detection of rotation of the crankshaft in a negative rotational direction for returning the crank angle. A second angle is used as the target angle during a second period from the lapse of the first period to detection of a changeover in a rotational direction of the crankshaft from the negative to a positive rotational direction. The electronic control unit is configured to return the target angle to the first angle at a first timing after the lapse of the second period.

A control method for a motor-driven vehicle is provided. The method includes calculating a correction torque of a drive motor through a difference between speeds of wheels or a variance rate of the difference between speeds of the wheels and comparing a calculated correction torque with a current required torque of the drive motor. When the calculated correction torque is greater than the current required torque, the drive motor is operated based on the current required torque. When the calculated correction torque is less than or equal to the current required torque, the drive motor is operated based on the calculated correction torque, or the required torque of the drive motor is corrected to correspond to the calculated correction torque and the drive motor is operated based on a corrected required torque of the drive motor.

A backup assist system for a vehicle reversing a trailer includes a brake module and a throttle module. The system further includes a controller having a vehicle speed detector and coupled with the brake module and the throttle module for implementing a backup mode including detecting an adverse operating condition and then adjusting at least one of the brake module and the throttle module and terminating the backup mode upon detecting the adverse operating condition for a time interval.