A traction control method and a traction control apparatus for a vehicle are provided. The traction control method includes: estimating driving torque for each wheel and a difference between left and right wheel rotation speeds; determining a situation, in which the difference between the left and right wheel rotation speeds exceeds a first set value, to be a split wheel spin situation; estimating a maximum coefficient of friction between a spinning wheel and a road surface in the split wheel spin situation and estimating a maximum driving torque, at which the road surface is acceptable, by the maximum coefficient of friction; and obtaining a difference between driving torque of the spinning wheel and the maximum driving torque to calculate a road surface limitation excess driving torque and determining entry into traction control when the road surface limitation excess driving torque exceeds a second set value.

Controlling an actual slip of at least one driven axle of a motor vehicle with at least one axle having at least one wheel and a one drive unit for providing a drive torque for the axle and for the wheel can be carried out by a control device for controlling the drive unit. The control device can be configured for establishing a first actual speed of the motor vehicle; establishing a second actual speed of the at least one wheel; calculating a target speed of the at least one wheel for the established first actual speed taking into account parameters; determining an actual slip of the at least one wheel with respect to a substrate on which the motor vehicle is being moved; when the actual slip exceeds a defined first limit slip, generating a limit torque by which the drive torque produced by the drive unit is adjusted.

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.

Systems and methods are provided herein for operating an electric vehicle in a vehicle yaw mode. The electric vehicle includes a normal driving mode where the electric vehicle is steered by turning the steerable wheels (e.g., left or right) and vehicle yaw mode where the vehicle controls the torque applied to each wheel. In response to receiving input to initiate vehicle yaw mode and yaw direction, the system determines the inner wheels and the outer wheels and provides forward torque to the outer wheels of the vehicle and backward torque to the inner wheels of the vehicle to rotate the vehicle.

An apparatus for controlling turning of a vehicle, a system having the same, and a method thereof are provided. The vehicle turning control apparatus include a processor to perform a control operation to determine whether a present situation is a normal turning situation based on steering angle information and wheel speed information of the vehicle, and operate an electronic limited slip differential (eLSD) by making an inner wheel slip based on a turning direction when an operation of the eLSD is failed in the normal turning situation; and a storage to store data obtained by the processor and an algorithm executed by the processor.

A method includes at least the following phases: a first phase wherein a path to be followed is generated, the path being subdivided into a series of sections of which the starting point forms an intermediate position; a second phase wherein, at the current intermediate position of the vehicle: a non-zero curvature is defined for each of the next n prediction horizon sections, the curvature varying progressively from one section to the next; a prediction is made, before the vehicle engages a movement, as to whether the path can be followed to the prediction horizon, as a function of imposed constraints and of the estimated lateral and/or longitudinal slips; a third phase wherein, if the path can be followed, the steering lock angle of the front wheels and the linear traction speed of the vehicle are controlled as a function of the state of the vehicle and of the lateral and/or longitudinal slips to line up the centre of the axle of the rear wheels on the path; if the path cannot be followed, the vehicle is realigned towards the target position and a new reference path is generated according to the first phase.

A method for validating a model of vehicle dynamics for use in autonomous driving. The method comprising setting a wheel slip limit on an operation of at least one vehicle torque device, obtaining a model of vehicle dynamics based on the set wheel slip limit, and validating the model of vehicle dynamics based on the set wheel slip limit.

A vehicle control device separately controls driving powers distributed to right and left wheels. The vehicle control device is configured to execute a vehicle posture control for reducing the driving powers transmitted from a driving source to the wheels by a request from a vehicle side. The vehicle control device includes a slip detection unit and a torque control unit. The slip detection unit is configured to detect a slip in the wheels. The torque control unit is configured to determine whether to perform a torque control after an operation of the vehicle posture control according to a detection result of the slip and a state of a transmission. The torque control is a control to control a torque input to the transmission by a request from the transmission side. The torque control unit is configured to execute the torque control on the basis of a determination result.

A system and to a method executed in a vehicle control unit for controlling wheel slip of a vehicle, wherein the vehicle comprises at least two wheels driven by at least primary actuator via an open differential. The primary actuator is controlled to rotate at a speed resulting in a slip λ.sub.em of the primary actuator. A signed wheel slip limit λ.sub.lim is determined by adding a configurable value to the slip λ.sub.em of the primary actuator, such that λ.sub.lim>λ.sub.em. The at least two wheels are controlled to rotate at wheel speeds resulting in respective wheel slips λ.sub.l, λ.sub.r below the signed wheel slip limit λ.sub.lim, wherein each one of λ.sub.l, λ.sub.r and λ.sub.em are signed numerical values.

The disclosure relates to a method for assisting a towing vehicle in the event of a loss of traction via a trailer vehicle. The method includes determining a differential slip between a driven wheel and a driveless wheel of the towing vehicle via a brake control unit and generating an acceleration demand dependent on the determined differential slip. The method further includes transmitting the acceleration demand to a trailer brake control unit, generating an activation signal for an electric drive of the trailer vehicle in dependence upon the acceleration demand in the trailer brake control unit, transmitting an activation signal to the electric drive of the trailer vehicle and generating a drive torque via the electric drive in dependence upon the activation signal. The disclosure furthermore relates to a towing vehicle, a trailer vehicle, and a combination thereof for carrying out the method.