A Kalman filter in a roll angle estimation device estimates a roll angle of a vehicle body, a vehicle speed, a roll angular velocity sensor offset, a yaw angular velocity sensor offset, and a vertical acceleration sensor offset on the basis of detected values of a roll angular velocity sensor, a yaw angular velocity sensor, a vertical acceleration sensor, a longitudinal acceleration sensor, a lateral acceleration sensor, and a rear-wheel speed sensor, and also on the basis of estimated values of the roll angle, the vehicle speed, the roll angular velocity sensor offset, the yaw angular velocity sensor offset, and the vertical acceleration sensor offset obtained in a previous estimation operation.

A vehicle includes a speed detector detecting a vehicle speed, a brake system and a control system implementing a control mode including determining a threshold speed. The control system further derives an initial brake torque demand proportional to an error between the threshold speed and a vehicle speed exceeding the threshold speed and outputs to the brake system a rate-limited brake torque demand by applying a rate-limit operator based on the error to the initial brake torque demand.

A control system for a vehicle operable to implement a speed control function, the control system comprising: means for receiving a user input of a target speed at which the vehicle is intended to travel; target speed torque determining means for determining an instantaneous value of torque, target speed torque, that should be applied to one or more wheels of the vehicle by a powertrain in order to control the vehicle to travel at the target speed; and filter means operable to filter the value of target speed torque to generate a filtered torque value, the system being operable to command the powertrain to apply to the one or more wheels an amount of torque corresponding to the filtered torque value, wherein the system further comprises modifier means operable to receive the instantaneous value of target speed torque generated by the target speed torque determining means and to input to the filter means a value of torque that is less than the target speed torque in dependence on a current speed of the vehicle and the target speed of the vehicle.

A method of controlling driving force of a vehicle, includes providing a first filter for removing or reducing a natural frequency component of the vehicle suspension pitch motion, and a second filter for extracting or increasing the natural frequency component of the vehicle suspension pitch motion to a controller of the vehicle, determining a required driving force command based on vehicle driving information collected during driving of the vehicle, determining a driving force command after filter application through a processing process by the first filter taking the determined required driving force command as input thereof, determining a driving force correction amount through a processing process by the second filter taking feedback driving force as input thereof, and correcting the driving force command after filter application using the driving force correction amount and controlling driving force applied to a driving wheel of the vehicle by a driving device of the vehicle using the driving force command after the correction.

The prevent disclosure relates to a lane keeping control apparatus and a method thereof. An exemplary embodiment provides a lane keeping control apparatus including a processor configured to calculate a steering angle control amount for following a target path for lane keeping control while driving a vehicle, and to adjust the steering angle control amount depending on a change directionality of a target path error that is an error between the target path and the vehicle, and a storage configured to store data and algorithms driven by the processor.

A method for compensating sensor tolerances of accelerometers of a vehicle. The method includes following steps: recording of measurement signals of at least three similarly oriented accelerometers, calculation of an acceleration (a.sub.b,z) at a reference position in the spatial direction, which corresponds to the orientation of the accelerometers, low-pass filtering of the measurement signals, determination of tolerance parameters (c.sub.x, c.sub.y, c.sub.z) of each sensor via an optimization method with the aid of the calculated acceleration (a.sub.b,z) at the reference position, and calculation of the adjusted measurement signals from the recorded measurement signals and the tolerance parameters (c.sub.x, c.sub.y, c.sub.z).

A method for early warning a blind area of a vehicle. In the method, the electronic device obtains at least one target image acquired by at least one camera of the vehicle. The electronic device further determines parameters of at least one target object in each of the at least one target image and a three-dimensional detection frame for each of the at least one target object based on the parameters. The electronic device further obtains a target detection frame of each of the at least one target object in a top view image of a plane where the vehicle is located by projecting the three-dimensional detection frame into the top view image and outputs alert information in response that an overlapped area exists between the target detection frame and a preset blind area of the top view image.

A method of angle estimation for use in a vehicle which is travelling on a surface. The vehicle includes a vehicle body having a first axis and being attached to at least two wheels. The method includes the steps of: providing a first height sensor for measuring h.sub.1, the height of the vehicle body with respect to the first wheel; providing a second height sensor for measuring h.sub.2, the height of the vehicle body with respect to the second wheel; providing a surface angle sensor for measuring .sub.road, the angle of the surface in relation to a horizontal plane; measuring the values of h.sub.1, h.sub.2 and .sub.road; using the values of h.sub.1 and h.sub.2 to calculate .sub.rel, the angle of the vehicle body relative to the surface; and calculating an estimate of .sub.glob, the angle between the first axis and the horizontal plane, from .sub.road and .sub.rel.

A vehicle control device, a vehicle control method, and a vehicle control system according to the present invention estimate, in response to a deceleration command to a vehicle, the first deceleration generated by a frictional braking force based on characteristics of deceleration with respect to a force acting on a friction pad of a frictional braking device, determine the second deceleration by subtracting the first deceleration from the deceleration command, output the first command for generating the frictional braking force based on the deceleration command, and output the second command for generating the regenerative braking force based on the second deceleration. This allows compensating for uncertainty in achieving deceleration by frictional braking, and improving the accuracy of the actual deceleration with respect to the deceleration command.

A traction control method for a vehicle, in which a driving motor and a torque vectoring motor are controlled based on motor traction control torque, includes determining, by a disturbance observer based on a vehicle model, observer torque based on the slipping wheel actual speed and a torque vectoring motor torque, which are feedback information obtained from a vehicle in which the driving motor and the torque vectoring motor are controlled, and determining torque vectoring motor traction control torque based on the determined observer torque and a speed control torque determined based on a torque-vectoring-motor-based wheel speed error among motor-based wheel speed errors.