A method to control a road vehicle driven by a driver and provided with at least a first drive wheel and a second driver wheel belonging to a same axle, each drive wheel being independently operated by a respective first and second electric motor; the control method comprises the step of controlling the torque delivered by each respective motor to the first drive wheel or to the second drive wheel as a function of a torque requested by the driver and independently of the difference in angular speed between the first and the second wheel.

A small electric vehicle includes: left and right motors connected so as to respectively transmit power to left and right driving wheels; left and right rotation speed sensors; a joystick-type operation element; and a control unit, wherein it is configured to calculate target rotation speeds of the left and right motors, based on a target vehicle speed and a target vehicle angular velocity that are provided according to an operation position of the operation element, and control the left and right motors such that the actual rotation speeds of the left and right motors follow the respective target rotation speeds, and configured to update at least one target value, according to a cumulative number of travels obtained by dividing, by a predetermined control unit, a cumulative total value of a cumulative power consumption obtained by the battery management unit.

An electric vehicle includes a yaw rate sensor and a processor. The yaw rate sensor is configured to measure a yaw rate of a vehicle body in a vehicle. The processor is configured to control respective torques of right and left rear wheels coupled to respective motors of the electric vehicle. In a case where a mode that allows the right and the left rear wheels to slip is selected as a traveling mode of the vehicle, the processor is configured to perform a control to suppress one of the torques of the right and the left rear wheels on a basis of the yaw rate measured by the yaw rate sensor.

A control system for a tiltable vehicle may include a motor controller configured to respond to backward or reverse operation of the vehicle by hindering a responsiveness of the control system (e.g., proportionally) and/or eventually disengaging a drive motor of the vehicle. Accordingly, a user may intuitively and safely dismount the vehicle by selectively commanding reverse operation. In some examples, the backward direction may be user-defined.

A motorized movement device includes a frame, first and second wheels connected to the frame, and first and second motors connected respectively to the first and second wheels that are commandable by respective command signals. The motorized device also includes an inertial measuring unit configured to detect the longitudinal acceleration, pitch angular speed, and yaw angular speed of the movement device and for providing signals representative of the same. The motorized device also includes sensors for detecting speeds of the wheels and configured to provide signals representative thereof. The motorized device further includes a control unit comprising a module for estimating the slope, and longitudinal thrust exerted by a user to the device, yaw torque applied by the user. The control unit also includes a module for compensating the slope, a thrust amplifying module, a yaw torque amplifying module, and a torque allocating module.

Methods, apparatus, systems, and articles of manufacture for vehicle turning in confined spaces are disclosed herein. An example apparatus disclosed herein instructions, at least one memory, a processor to execute the instructions to operate a first brake of a first wheel of a vehicle, operate a second brake of a second wheel of the vehicle, determine a frictional coefficient of a driving surface of the vehicle by rotating a third wheel of the vehicle, determine based on the frictional coefficient, if a turn command can be conducted by the vehicle, and when the turn command can be conducted, conduct the turn command.

A control system for a tiltable vehicle may include a motor controller configured to respond to backward or reverse operation of the vehicle by hindering a responsiveness of the control system (e.g., proportionally) and/or eventually disengaging a drive motor of the vehicle. Accordingly, a user may intuitively and safely dismount the vehicle by selectively commanding reverse operation. In some examples, the backward direction may be user-defined.

A travel information recording system for associating travel information on a vehicle obtained immediately after travel through a branch location with an appropriate road segment includes: travel segment specifying unit for specifying a travel segment that is a road segment in which a vehicle is traveling; and travel information recorder for recording travel information on the vehicle obtained during travel in the travel segment in association with the travel segment in a storage medium. In the case where there occurs a segment variation in which the travel segment is varied from one of several road segments branched off from a branch location, the travel information recorder acquires the travel information to be recorded in association with a post-variation segment, which is the travel segment after the segment variation, on the basis of the travel information obtained before the segment variation.

A control apparatus to be applied to a vehicle includes an acquiring unit and an estimator. The acquiring unit is configured to acquire wheel speeds of respective wheels of the vehicle and a steering angle of the vehicle. The estimator is configured to estimate vehicle speeds at respective positions of the respective wheels, on the basis of a minimum wheel speed among the wheel speeds of the respective wheels and the steering angle.