The present invention relates to a method for collision avoidance for a host vehicle, the method comprising: detecting a target in the vicinity of the vehicle; determining that the host vehicle is travelling on a collision course with the target; detecting a user initiated steering action for steering the vehicle towards one side of the target; determining a degree of understeering of the host vehicle; when the degree of understeering exceeds a first understeering threshold, controlling a steering control system of the vehicle to counteract the user initiated steering action to thereby reduce the degree of understeering. The invention further relates to an evasive steering system.

The present disclosure discloses an electric vehicle, an active safety control system of an electric vehicle, and a control method of the active safety control system of an electric vehicle. The electric vehicle includes: multiple wheels, multiple motors, a wheel speed detection module, a steering wheel rotation angle sensor, a yaw rate sensor, and a battery pack. The active safety control system includes: an acquisition module, acquiring the wheel speed signal, the direction information, the yaw information, status information of the battery pack, and status information of the multiple motors; a status determining module, determining status of the electric vehicle; and a control module, generating a control instruction and delivering the control instruction to at least one motor.

A method for stabilizing a vehicle (100) in which the vehicle (100) has a roll stabilizer (120), which is designed to stabilize a first axle (101) and a second axle (102) as a function of a roll torque distribution between the first axle (101) and the second axle (102). The method comprises a step of determining a sideslip angle index from a difference between a transverse acceleration calculated from a yaw rate of the vehicle (100) and a speed of the vehicle (100), and a detected transverse acceleration of the vehicle (100). The sideslip angle index is related to a sideslip angle of the vehicle (100). The method also comprises a step of generating a control signal (160) using the sideslip angle index. The control signal (160) is suitable for adjusting the roll torque distribution of the roll stabilizer (120) as a function of the determined sideslip angle index.

A method for detecting a situation of loss of grip of a vehicle provided with a steering system operated by a steering wheel, said method being in that it comprises a step (a) of evaluating a first indicator of loss of grip (P1) comprising calculating, as the first indicator of loss of grip (P1), the partial derivative

[00001]$\left(P.Math..Math.1=\frac{\partial \stackrel{.}{\psi }}{\partial \alpha }\right),$

relative to a variable (α) representative of the angular position of the steering wheel, of a driving parameter which is representative of the yaw rate ({dot over (ψ)}) of the vehicle.

A control system for a vehicle is provided, which includes a driving force source configured to generate torque for driving drive wheels, a steering wheel, a steering angle sensor, and a controller. Based on the detected steering angle, the controller reduces the driving torque to add deceleration to the vehicle when the steering wheel is being turned in one direction, and increases the torque to add acceleration when the steering wheel is being turned back in the other direction. The controller controls the torque, when the steering wheel is being turned in the returning direction from a state where it is turned in the one direction, so as to add forward acceleration until the steering wheel returns to a neutral position, and when the steering wheel is then being turned in the other direction after passing through the neutral position, so as not to add the forward acceleration.

Apparatuses, systems, and methods relate to technology to control one or more systems to mitigate an oversteer condition of a vehicle or allow the oversteer condition, identify a curve in a roadway based on sensor data associated with the vehicle, based on the curve in the roadway, conduct an identification that the oversteer condition is to be allowed for at least a portion of the curve, and in response to the identification that the oversteer condition is to be allowed, controlling the one or more systems to allow the oversteer condition for the at least the portion of the curve.

A controller and a method for controlling motion of a vehicle is provided. The method comprises acquiring motion information including a current state of the vehicle and a desired state of the vehicle, determining a combination of a steering angle of the wheels and motor forces for moving the vehicle from the current state into the desired state by using a first model of the motion of the vehicle and a second model of the motion of the chassis of the vehicle, determining a cost function of the motion of the vehicle, optimizing the cost function of the motion of the vehicle to compute a command signal for controlling the steering wheel and the plurality of electric motors, and controlling the steering angle of the wheels and the motor forces based on the command signal.

Apparatuses, systems, and methods relate to technology to control one or more systems to mitigate an oversteer condition of a vehicle or allow the oversteer condition, identify a curve in a roadway based on sensor data associated with the vehicle, based on the curve in the roadway, conduct an identification that the oversteer condition is to be allowed for at least a portion of the curve, and in response to the identification that the oversteer condition is to be allowed, controlling the one or more systems to allow the oversteer condition for the at least the portion of the curve.

A method for controlling actuators acting on vehicle wheels of a motor vehicle comprises ascertaining a force to be brought about on a reference point of the motor vehicle on the basis of driver specifications, ascertaining wheel forces to be brought about on the vehicle wheels to implement the force to be brought about on the reference point of the motor vehicle by means of a first dynamic allocation by model-based predictive control (MPC), ascertaining setpoint values for wheel parameters from the ascertained wheel forces, and actuating the actuators of the motor vehicle so as to implement the setpoint values of the wheel parameters.

A control device for a vehicle comprising: a sensor that acquires information on a driving direction and a speed of the vehicle; a first calculator that calculates a slip angle of front wheels and a slip angle of rear wheels of the vehicle based on the information acquired by the sensor; a second calculator that calculates a saturation index of the front wheels and a saturation index of the rear wheels using a phase plane related to the slip angle of the front wheels and the slip angle of the rear wheels; and a controller that distributes traction torque to a front wheel axle and a rear wheel axle based on the phase plane and the saturation index of the front wheels and the saturation index of the rear wheels.