A vehicle includes a regenerative braking device provided on regenerative braking wheels, which are any ones of front wheels and rear wheels, a frictional braking device configured to separately control a frictional braking force applied to each of the front wheels and the rear wheels, and an electronic control unit is configured to, upon detecting a slip state where a wheel speed of the regenerative braking wheels executing regenerative braking is below a slip determination threshold value positioned between a vehicle body speed and an anti-lock brake control operation threshold value, execute a regenerative control process for controlling the regenerative braking device such that the regenerative braking device generates a regenerative braking force that decreases a difference between the wheel speed and the slip determination threshold value.

Methods and systems are provided for using the weights of cost functions to improve linear-program-based vehicle driveline architectures and systems. In some embodiments, the methods and systems may include establishing values for driveline controls of a linear program based on driveline requests of the linear program. The values of the driveline controls, which may be used to adjust driveline actuators, may be established based on values of a plurality of weights of a cost function of the linear program, the weights respectively corresponding with the plurality of driveline requests.

The disclosure relates to a method for actuating an electric drive of a trailer vehicle with a towing vehicle, including the steps: determining a current slip of at least one driven wheel of a towing vehicle pulling the trailer vehicle, determining an expected slip for the driven wheel of the towing vehicle, determining an acceleration demand depending on the determined current slip and the determined expected slip and actuating the electric drive depending on the acceleration demand. The disclosure also relates to a control unit for executing the method, a towing vehicle, a trailer vehicle and a vehicle combination.

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 vehicle control device that calculates a vehicle body velocity of a vehicle is disclosed. Sensors (18, 19) that obtain respective wheel velocities of left and right wheels (5) arranged along the vehicle width direction are provided. A calculator (11) that calculates, when the left and right wheels (5) are not slipping, an average value (A) of the wheel velocities as the vehicle body, and calculates, when at least one of the left and right wheels (5) is slipping, the vehicle body velocity on the basis of the average value (A) and a lower velocity value (B) between the wheel velocities is provided. With this configuration, the precision in calculating the vehicle body velocity is enhanced, suppressing a cost rise.

A method and a device for determining wheel slip information of an electrically driven wheel of a motor vehicle, according to which during travel, the speed (nE-motor) of an electric motor driving the wheel is detected and the detected speed (nE-motor) of the electric motor is used to determine the wheel slip information.

A vehicle includes an electric machine and a controller. The controller is programmed to responsive to a threshold difference, indicative of wheel slip, between average wheel speed and a vehicle speed that is based on a difference between wheel acceleration and measured vehicle acceleration, command a speed to the electric machine to reduce the wheel slip.

A traction control device and method for a four-wheel drive electric vehicle are disclosed. When the drive wheels of an electric vehicle spin, a drive force of the electric vehicle is controlled so as to restrain the spinning of the drive wheels and to secure the starting performance and acceleration performance of the electric vehicle.

An electrified vehicle disclosed in the present specification includes: a motor configured to rotate a drive wheel of the electrified vehicle; a sensor configured to detect a motor rotation number that is the number of rotations of the motor; and a control device configured to perform feedback control of the motor rotation number based on a value detected by the sensor. The control device is configured to perform during the feedback control a process of extracting a vibration component in a predetermined frequency band from the value detected by the sensor, a process of calculating an integrated value by integrating the extracted vibration component for a predetermined period, and a process of determining whether the calculated integrated value falls within a predetermined abnormal range.

The disclosure relates to a method for freeing at least one locked wheel of a vehicle. One step of the method relates to identifying a locking scenario comprising the identification of the at least one locked wheel. A further method step is selecting a wheel freeing strategy being suitable for the identified locking scenario. Another step is directed to applying the selected wheel freeing strategy. Furthermore, the disclosure is directed to a propulsion system for a vehicle having at least one wheel. The propulsion system comprises at least one propulsion actuator. Moreover, at least one wheel speed sensor is provided, the wheel speed sensor being configured for detecting the rotational speed of the at least one wheel. Additionally, the propulsion system has at least one brake unit being configured for braking the at least one wheel and a control unit being configured for performing the above method.