Aspects of the present invention relate to a method and to a control system for controlling an electric traction motor of a vehicle, the control system comprising one or more controllers, wherein the control system is configured to: limit a rate of change of torque requested from the electric traction motor for changing speed towards a speed target, in dependence on a lash crossing protection rate limiter; and upon removal of the limit prior to the speed reaching the speed target, inhibit initial increase of a torque requested from the electric traction motor for changing speed towards the speed target.

Aspects of the present invention relate to a method and to a control system for controlling movement of a vehicle to provide vehicle creep, the vehicle comprising an engine and an electric traction motor, the control system comprising one or more controllers, wherein the control system is configured to: while a torque path between the engine and a first set of vehicle wheels is disconnected, control the electric traction motor to provide tractive torque to a second set of vehicle wheels to automatically move the vehicle to provide electric vehicle creep, wherein the electric vehicle creep is controlled by a mathematical model of engine creep torque that would be provided by the engine when the torque path between the engine and the first set of vehicle wheels is connected.

An automatic vehicle speed control system for use in a vehicle having an implement is disclosed. The automatic vehicle speed control system includes: a controller configured to: set a speed of the vehicle to a creep setting; monitor one or more operating conditions of the implement; and automatically adjust the speed of the vehicle based on the one or more operating conditions of the implement.

The present disclosure relates to a vehicle and a parking control method therefor which can prevent a parking curb or a driving system from being damaged during parking due to collision with the parking curb or running over the parking curb according to creep torque imitation by an electric motor in a vehicle equipped with the electric motor. A parking control method includes determining whether a parking situation occurs, applying a creep torque modification coefficient to a creep torque until contact with an object that applies a reaction force to a wheel in a parking direction is sensed to determine a modified creep torque upon determining the parking situation, and variably controlling the creep torque by applying a variable coefficient to the modified creep torque.

An electrified vehicle may include an electric motor coupled to a battery to propel and brake the vehicle, a pedal generating a pedal position signal including a released position signal, friction brakes configured to provide a stopping force to vehicle wheels, and a controller programmed to control the motor and the brakes in response to the pedal being released to decelerate the vehicle to a stop, and to control the motor and an engine (in hybrid vehicles) to inhibit propulsive torque to the wheels after stopping due to the pedal released position until receiving driver input indicative of a request for moving the vehicle, such as depressing the brake or accelerator pedal, or activating an automated vehicle maneuver, such as a parking maneuver, cruise control, or stop-and-go control. Inhibiting torque may include inhibiting creep torque and/or operating the electric machine to charge the battery when the engine is running.

In one embodiment, a driving environment is perceived based on sensor data obtained from a variety of sensors, including determining a current speed of an ADV. In response to a request for driving with an idle speed, a speed guideline is generated based on an idle speed curve in view of the current speed of the ADV. A speed planning operation is performed by optimizing a cost function based on the speed guideline to determine the speeds of the trajectory points at different points in time along a trajectory planned to drive the ADV. One or more control commands are then generated to control the ADV with the planned speeds along the planned trajectory, such that the ADV moves according to an intended idle speed.

Systems and methods to control the vehicle speed of a vehicle includes a motor and a controller coupled to the motor. The controller is structured to: determine that a speed of a vehicle is at or above a predetermined speed limit; activate a motor speed governor responsive to an input received by the controller, wherein the motor speed governor is structured to control a vehicle speed; and adjust an output torque based on the vehicle speed being at or above the predetermined speed limit.

A control device executes caster angle change control for controlling a driving force applying device or each of the driving force applying device and a braking force applying device to reduce a caster angle of a steered tire-wheel assembly when a steering request is received in a stopped state or in a creeping state without exceeding a predetermined vehicle speed at a point starting from the stopped state. In the caster angle change control, the control device applies, to one tire-wheel assembly out of a front tire-wheel assembly and a rear tire-wheel assembly, a driving force in a direction toward the other tire-wheel assembly and applies, to the other tire-wheel assembly, a braking force or a driving force in a direction toward the one tire-wheel assembly to achieve the stopped state or the creeping state in response to a request for acceleration or deceleration.

Technologies and techniques for the restrained movement of a vehicle with a drive unit for accelerating the vehicle, and a braking unit for braking the vehicle. A restraining drive torque is generated by the drive unit, and a braking torque is generated by the braking unit to compensate for the restraining drive torque and thereby to generate a restraining torque in the vehicle, and braking the vehicle by reducing the drive torque. A device and a computer program product may be configured to implement the restraining movement processes and a storage may be configured with a processor to execute the computer program product.

A vehicle control apparatus includes a controller configured to perform creep traveling control in which a vehicle is caused to travel regardless of an accelerator operation. When one or both of front wheels or one or both of rear wheels of the vehicle are determined as having moved onto a step by the controller after the creep traveling control starts, the controller causes a target vehicle speed of the creep traveling control to be lower than a first target vehicle speed until the remaining wheels out of the front wheels and the rear wheels are determined as having moved onto the step. The first target vehicle speed is equal to the target vehicle speed having been set before a time when the one or both of the front wheels or the one or both of the rear wheels are determined as having moved onto the step.