Abstract: A road surface friction coefficient estimation apparatus for a vehicle includes: a first estimator; a second estimator; and a third estimator. The first estimator estimates a first road surface friction coefficient on a basis of a vehicle information acquired from the vehicle. The second estimator estimates a second road surface friction coefficient on a basis of an external information acquired from an outside of the vehicle. The third estimator estimates a road surface friction coefficient from the first road surface friction coefficient and the second road surface friction coefficient on a basis of a first reliability degree and a second reliability degree, the first reliability degree indicating a reliability of the first road surface friction coefficient, the second reliability degree indicating a reliability of the second road surface friction coefficient.

Abstract: A control apparatus for a vehicle includes: a decider; and a rotation speed controller. The decider is configured to decide on a basis of a traveling state of the vehicle that a wheel which is spun is coupled to a drive source to increase a number of driving wheels. The rotation speed controller is configured to decide increase a rotation speed of the drive source in advance in accordance with an information of a vehicle behavior unstableness degree which is acquired from an outside of the vehicle before the wheel is coupled to the drive source.

Abstract: A vehicle control device includes: a motor information acquisition unit, a transmitting unit, a receiving unit and a motor controller. The motor information acquisition unit is configured to acquire motor information about a motor for driving a vehicle with the motor being in a predetermined state. The transmitting unit is configured to transmit the acquired motor information to an external server. The receiving unit is configured to receive an adaptive value of a motor control parameter. The adaptive value is adapted by the server on a basis of the motor information. The motor controller is configured to control the motor on a basis of the received adaptive value.

Abstract: A control device for a vehicle includes a controller configured to cause a transition of distribution of driving forces of front wheels and rear wheels, from first distribution to second distribution at a predetermined time change rate, until the vehicle arrives at a point of change. The point of change is a point at which a friction coefficient of a road surface changes frontward of the vehicle.

Abstract: A control device for a vehicle includes a predictor and a controller. The predictor is configured to predict, on the basis of change information, whether or not the vehicle will collide with a frontward obstacle, on the condition that a brake operation by a driver has been performed. The change information is information regarding a change in a friction coefficient of a road surface frontward of the vehicle. The controller is configured to control brake power of the vehicle on the basis of the change information, on the condition that a prediction is made that the vehicle will collide with the obstacle.

Abstract: A vehicle control device includes a slippage determination unit, a control unit, a different-diameter determination unit and a threshold adjuster. The slippage determination unit determines that a drive wheel is slipping when an index value that is correlated with a rotation speed of the drive wheel exceeds a threshold. The control unit controls a driving force of the drive wheel such that the index value matches a target value when it is determined that the drive wheel is slipping. The different-diameter determination unit determines whether a different-diameter tire that has a different diameter from a reference diameter is mounted on the drive wheel. The threshold adjuster adjusts a threshold on the basis of a ratio between a diameter of the tire mounted on the drive wheel and the reference diameter when it is determined that the different-diameter tire is mounted on the drive wheel.

Abstract: A braking control device for a vehicle includes an anti-lock controller and a resonance controller. The anti-lock controller is configured to perform an anti-lock control that includes making adjustment of braking torque command, to cause suppression of one or more wheels from being locked in braking of the vehicle. The resonance controller is configured to correct the braking torque command, to control resonance of a power transmitter. The resonance controller includes a resonance generation processor is configured to generate the resonance while imposing a limitation on magnitude of the resonance. The resonance controller is configured to suppress the resonance except during the anti-lock control, and allow the resonance generation processor to generate the resonance while imposing the limitation on the magnitude of the resonance during the anti-lock control.

Abstract: A control apparatus of a vehicle that is provided with a drive wheel, a drive unit configured to generate, on a basis of a torque command, power directed to running, and a power transmitter configured to transmit the power derived from the drive unit to the drive wheel. The control apparatus is mounted on the vehicle and includes a resonance controller and a resonance switcher. The resonance controller is configured to output the torque command, and control resonance of the power transmitter by utilizing the torque command. The resonance switcher is configured to switch a state of the resonance controller between a resonance-restraining state that restrains the resonance and a resonance-generating state that generates the resonance.

Abstract: A vehicle driving force control apparatus is mounted in a vehicle that runs by transmitting power from a plurality of drive sources to a plurality of wheels or a plurality of sets of wheels. The vehicle driving force control apparatus includes: a ratio determination unit; and a command unit. The ratio determination unit determines a target ratio at which a required driving force applied to the vehicle is to be distributed to the plurality of wheels or the plurality of sets of wheels. The command unit commands the plurality of drive sources to output power such that driving force distributed in accordance with the target ratio is generated in the plurality of wheels or the plurality of sets of wheels.

Abstract: A vehicle driving force control apparatus is mounted in a vehicle provided with a plurality of drive sources, and a plurality of power transmission mechanisms configured to transmit power from the plurality of drive sources to a plurality of wheels or a plurality of sets of wheels. The vehicle driving force control apparatus includes: a ratio determination unit and a command unit. The ratio determination unit determines a target ratio at which a required driving force applied to the vehicle is to be distributed to the plurality of wheels or the plurality of sets of wheels. The command unit commands the plurality of drive sources to output power such that driving force distributed in accordance with the target ratio is generated in the plurality of wheels or the plurality of sets of wheels.

Abstract: A vehicle control device includes motors that respectively drive front and rear, left and right wheels independently, wheel speed sensors that detect rotation speeds of the respective wheels, motor rotation speed sensors that detect rotation speeds of the motors corresponding to the respective wheels, a slip determination module that sets, as a base rotation speed, a lowest rotation speed, and performs slip determination on each wheel on the basis of the base rotation speed and the rotation speeds of the motors, a rotation speed control module that performs torque down, and calculates requested torques of the motors from redistributed torques, and a redistribution control module that redistributes a torque down amount of the slipping wheel to a non-slipping wheel to calculate the redistributed torques.

Abstract: A vehicle control device includes: a requested torque acquisition module that acquires a requested torque requested to a motor that drives a wheel; a control subject designation module that designates one of a wheel speed and a motor rotation speed as a control subject on the basis of the requested torque; and a control module that performs feedback control in a manner that the control subject designated by the control subject designation module becomes equal to a target value.

Abstract: A vehicle control device includes: a slip determination module that determines a slip of each of wheels; a base distribution calculation module that calculates a base distribution torque to be distributed to the front and rear wheels on the basis of requested torques and a base distribution ratio of torques between the front and rear wheels, and changes the base distribution ratio on the basis of a result of slip determination performed by the slip determination module when the slip is detected; a rotation speed control module that decreases the base distribution torque on the basis of the result of slip determination, in a manner that a rotation speed of a slipping wheel that is slipping becomes equal to a target rotation speed; and a torque vectoring module that redistributes a torque down amount of the slipping wheel to the base distribution torque of non-slipping wheels that are not slipping.

Abstract: A vehicle control device includes motors that drive respective tires via drive shafts, a reference rotation speed calculating module that calculates torsional amounts of the drive shafts on the basis of a required torque, and outputs a reference rotation speed for a slip determination, the reference rotation speed being obtained by adding the torsional amounts to rotation speeds of the motors, the rotation speeds corresponding to a vehicle speed, and slip determiners that compare the rotation speeds of the motors with the reference rotation speed to determine whether or not the tires are slipping, and a rotation speed control module that controls the rotation speeds of the motors on the basis of a target rotation speed when it is determined that the tires are slipping.

Abstract: A vehicle control device includes motors that respectively drive front and rear, left and right wheels independently, wheel speed sensors that detect rotation speeds of the respective wheels, motor rotation speed sensors that detect rotation speeds of the motors corresponding to the respective wheels, a slip determination module that sets, as a base rotation speed, a lowest rotation speed, and performs slip determination on each wheel on the basis of the base rotation speed and the rotation speeds of the motors, a rotation speed control module that performs torque down, and calculates requested torques of the motors from redistributed torques, and a redistribution control module that redistributes a torque down amount of the slipping wheel to a non-slipping wheel to calculate the redistributed torques.

Abstract: A vehicle control device includes an obstacle detection unit that detects an obstacle in front of a vehicle and detects a distance to the obstacle, a maximum driving force difference calculation module that calculates, on the basis of the detected distance to the obstacle, a maximum driving force difference between a left wheel and a right wheel, and a redistribution control module that redistributes, when an actual driving force difference of respective motors that drive the left and right wheels exceeds the maximum driving force difference, torques of the respective motors in a manner that the actual driving force difference becomes lower than or equal to the maximum driving force difference.

Abstract: A vehicle control device includes motors that drive respective tires via drive shafts, a reference rotation speed calculating module that calculates torsional amounts of the drive shafts on the basis of a required torque, and outputs a reference rotation speed for a slip determination, the reference rotation speed being obtained by adding the torsional amounts to rotation speeds of the motors, the rotation speeds corresponding to a vehicle speed, and slip determiners that compare the rotation speeds of the motors with the reference rotation speed to determine whether or not the tires are slipping, and a rotation speed control module that controls the rotation speeds of the motors on the basis of a target rotation speed when it is determined that the tires are slipping.