A steering control apparatus according to the present invention acquires a reference target torque, which is a torque regarding steering that is required to avoid an obstacle present ahead of a vehicle, determines a torque correction value for correcting the reference target torque based on specifications regarding running of the vehicle, determines a target torque based on the reference target torque and the torque correction value, and outputs a torque instruction for achieving the determined target torque to an actuator regarding the steering.

An apparatus with torque vectoring control of a vehicle with an independent driving motor includes: one or more processors configured to: measure driving information including a steering angle, a yaw rate, a longitudinal velocity, lateral acceleration and longitudinal acceleration of the vehicle; calculate a driving aggressiveness (DA) index representing driving aggressiveness of a driver through an exponential weighted moving average (EWMA) operation using the driving information; calculate a target yaw rate based on the driving information and the DA index; and generate a control moment based on the driving information, the DA index and the target yaw rate, wherein, for the calculating of the DA index, the one or more processor are configured to calculate the DA index to have a higher value than a case of generating only longitudinal acceleration or a case of generating only lateral acceleration, in response to the longitudinal acceleration and the lateral acceleration being generated at a same time.

A vehicle control system includes: a turning device that turns a wheel of a vehicle; a steering sensor that detects a driver's steering operation; and a control device configured to execute automated turning control that controls the turning device to automatically turn the wheel, independently of the driver's steering operation. A modification desire degree represents a degree to which the driver's steering operation modifies vehicle travel caused by the automated turning control. During execution of the automated turning control, the control device calculates the modification desire degree based on a result of detection by the steering sensor. When the modification desire degree exceeds a threshold, the control device executes system suppression processing without terminating the automated turning control. In the system suppression processing, the control device weakens the automated turning control as compared to a case where the modification desire degree is equal to or lower than the threshold.

A drive force control system controls acceleration of a vehicle accurately in line with an operation of an accelerator pedal to improve an acceleration feel. A controller calculates a corrected target acceleration when a required acceleration is large and an operating speed of the accelerator pedal is fast, and converts the corrected target acceleration into a target driving force to propel the vehicle so as to achieve the corrected target acceleration by generating the target driving force.

A control device installed in a vehicle, the control device including one or more processors configured to: accept a plurality of first requests from a driver assistance system; perform arbitration of the first requests; calculate a second request that is a physical quantity that is different from the first requests, based on an arbitration result from the arbitration; calculate a third request that is the same physical quantity as the second request, based on a value realized by the vehicle and the first request; and distribute the second request and the third request to at least one of a plurality of actuator systems, wherein the one or more processors are configured to restrict calculation of the third request based on a predetermined condition.

The vehicle control device includes a speed calculation unit, a speed estimation unit, a motion feedback calculation unit, and a slip estimator. The speed calculation unit calculates a speed in a predetermined direction of a vehicle on the basis of a feature quantity. The speed estimation unit estimates a speed in the predetermined direction on the basis of a speed or acceleration detected by a motion detector. The motion feedback calculation unit performs feedback calculation in which a value obtained, through a proportional gain, from a deviation between a calculation speed calculated by the speed calculation unit and an estimation speed estimated by the speed estimation unit, is added to the feature quantity. The slip estimator compares the calculation speed with the estimation speed, and estimates that the vehicle is in a slip state in the predetermined direction, when the estimation speed exceeds the calculation speed.

An embodiment acceleration limit control method includes determining an acceleration limit based on information on a passenger, determining a disturbance torque due to a disturbance, other than a drive source of a vehicle, based on at least a slope, determining a torque limit satisfying the acceleration limit based on the disturbance torque, and determining an output torque to be generated by the drive source based on the torque limit and a driver's requested torque.

A powertrain system includes an internal combustion engine, an electric motor, a battery and a control device. The control device is configured to: execute a control input determination processing to solve an optimization problem that minimizes a fuel consumption amount m.sub.f during the control time period while taking dynamics of a charging rate SOC as a constraint, and thereby calculate one or more control input values; and execute a system control processing. The control input determination processing includes: a co-state variable determination processing to update a co-state variable p for each time step while using, as an initial value thereof, a final value or an average value thereof during the last control time period; and a control input calculation processing to use the determined co-state variable p and search for and calculate, for each time step, the one or more control input values that minimize an Hamiltonian H.

The present invention achieves a technique that makes it possible to estimate a ground contact load of a vehicle with sufficiently high accuracy. A ground contact load estimation device (100) acquires a wheel angular speed, a steady load, and an inertia load of a vehicle, uses the steady load and the inertia load to cause a first gain calculation section (122) to calculate a first gain, multiplies a variation in wheel angular speed by a second gain so as to cause a tire effective radius variation calculation section (121) to calculate a tire effective radius variation, and multiplies the tire effective radius variation by the first gain so as to estimate a road surface load.

A vehicle controller for avoiding a collision of a vehicle and a method thereof are provided. The vehicle controller includes a drive motor that supplies electric power for a behavior of a vehicle, sensors that obtain information outside the vehicle and information inside the vehicle, and a controller that estimates, when detecting evasive steering of a driver in a collision situation based on the information outside the vehicle and the information inside the vehicle, a front wheel slip angle and a rear wheel slip angle, and controls the drive motor based on the front wheel slip angle and the rear wheel slip angle.