Abstract: The disclosure relates to a sensor assembly for a vehicle, comprising: a speed sensor for each vehicle wheel that detects an rpm-dependent and/or rotational-speed-dependent physical variable, which is used to ascertain speed information; a primary control unit, which analyses the speed information to perform first braking functions; and a secondary control unit, which analyses the speed information to perform second braking functions. A control unit is arranged positioned close to each of the vehicle wheels, and is connected to the speed sensor associated with the corresponding wheel and receives a sensor signal and determines the speed information for the corresponding vehicle wheel, the primary control device and a further control device receiving the speed information ascertained for analysis in real time, and the control devices making the speed information ascertained available in the form of first sensor data to a central network over a databus for distribution in the vehicle.

Abstract: An electromechanical brake system for a motor vehicle. The brake system includes four wheel brake devices, four primary electric motors, four secondary electric motors, and four control devices. The control devices are designed to acquire and/or evaluate sensor data from sensors assigned to the wheel brake devices and/or to the motor vehicle. Each of the wheel brake devices is assigned one of the primary electric motors and one of the secondary electric motors respectively for operating the respective wheel brake devices. Each of the control devices is respectively assigned to one of the primary electric motors of one of the wheel brake devices and to one of the secondary electric motors of another of the wheel brake devices for actuating the electric motors.

Abstract: An electromechanical brake system for a motor vehicle. The brake system includes four wheel brake devices, four primary electric motors, four secondary electric motors, and two control devices. The control devices are designed to acquire and/or evaluate sensor data from sensors assigned to the wheel brake devices and/or to the motor vehicle. Each of the wheel brake devices is respectively assigned one of the primary electric motors and one of the secondary electric motors in each case for operating the respective wheel brake devices. For actuating the electric motors, each of the control devices is respectively assigned to two of the primary electric motors of two of the wheel brake devices and to two of the secondary electric motors of two other of the wheel brake devices.

Abstract: A vehicle brake apparatus is provided including a housing, a cylinder installed inside the housing, a motor connected to the cylinder and configured to provide a rotational force to a screw shaft installed inside the cylinder to axially rotate the screw shaft by providing the screw shaft with the rotational force of the motor, a nut coupled to the screw shaft with a ball member in between and reciprocating along an axial direction of the screw shaft in a manner that corresponds to a rotational direction of the screw shaft, a piston coupled to the nut and moving in unison with the nut, and a retaining portion installed between the nut and the piston and having an opening.

Abstract: A method for checking intended pressure medium-conducting contacting of circuit branches, associated with one another, of separate brake circuits of an electronically slip-controllable power brake system with two actuator units, contacted for conducting pressure medium, for generating and controlling brake pressure, in particular for a motor vehicle, and an electronic control unit for such a power brake system.

Abstract: An electrical passenger car, the electrical passenger car including: at least two electrically driven motors; a battery pack; motor control electronics, where the motor control electronics are connected to the at least two electrically driven motors; wheels, where the wheels are connected to the at least two electrically driven motors; and sensors, where the sensors are connected to at least the motor control electronics, where the wheels include a first wheel and a second wheel, where the second wheel has a radius at least 7% greater than a radius of the first wheel, where the battery pack is mounted in the car frame such that the battery pack could be moved forward or backward, and where the electrical passenger car is designed to be driven on a paved road.

Abstract: A control apparatus for an all-wheel drive vehicle that includes (i) a power source, (ii) a power distribution device for distributing a power from the power source to front and rear wheels, (iii) a differential limiting mechanism for placing the power distribution device in a differential limiting state in which a rotational difference between the front wheels and the rear wheels is limited, and (iv) a braking device for applying a wheel braking torque to each of the front and rear wheels. When the power distribution device is placed in the differential limiting state and the wheel braking torque is applied to each of the front wheels and the rear wheels, a torque limiting control is executed for setting an upper limit value of a torque of the power source to a smaller value when the wheel braking torque is large than when the wheel braking torque is small.

Abstract: A system and method of power management in vehicles provided with a temperature-controlled environment. A power management system in a vehicle provided with a temperature-controlled environment comprising a controller connected to a power supply, wherein the vehicle and the temperature-controlled environment are partially or completely powered by the power supply, so that the controller composes an operation model based on georeferencing data, and defines the amount of charge that the power supply provides individually to the vehicle and the temperature-controlled environment along each section of a route traveled in order to maximize power efficiency in the transport of temperature-controlled cargo. The system and method are in the fields of mechanical and electronic engineering, focused on the area of power efficiency in automobile systems.

Abstract: This application discloses a hybrid power automobile and a power system thereof. The power system includes: an engine, where the engine outputs power to wheels of the hybrid power automobile through a clutch; a power motor, where the power motor is configured to output a drive force to the wheels of the hybrid power automobile; a power battery, where the power battery is configured to supply power to the power motor; a DC-DC converter; and an auxiliary motor connected to the engine, where the auxiliary motor is connected to the power motor, the DC-DC converter, and the power battery, and when performing power generation under driving of the engine, the auxiliary motor implements at least one of charging the power battery, supplying power to the power motor, and supplying power to the DC-DC converter. Therefore, low-speed electric balance and low-speed smoothness of the entire vehicle can be maintained.

Abstract: A hybrid electric vehicle comprising: an engine; a filter for collecting particulate matter from the engine; a motor provided on a power transmission path between the engine and the drive wheels; a torque converter having a lock-up clutch provided on the power transmission path between the motor and the drive wheels; and a control device, wherein the control device includes: a first determination unit that determines whether there is a request for regeneration control of the filter by a fuel cut in the engine; a second determination unit that determines whether the lock-up clutch cannot be engaged; and a regeneration control unit that, when an affirmative determination is made in the first determination unit and a negative determination is made in the second determination unit, executes auxiliary regeneration control that assists the rotation of the engine by the motor while releasing the lock-up clutch and executing the fuel cut.

Abstract: Systems and methods are described for emissions control of a hybrid vehicle. An instruction to switch from a combustion engine power mode of the hybrid vehicle to an electric power mode of the hybrid vehicle is received. A temperature of a catalyst associated with a combustion engine of the hybrid vehicle is identified, where exhaust gases from the combustion engine are passed over the catalyst. If the temperature of the catalyst is at, or above, a threshold level, the hybrid vehicle is switched to the electric power mode, and the combustion engine is switched off. If the temperature of the catalyst is below the threshold level, the hybrid vehicle is switched to the electric power mode, and the catalyst temperature is maintained at, or above, the threshold level.

Abstract: A device for reducing noise in an interior space of a vehicle is provided. The vehicle includes a body having the interior space, at least one tire, and one wheel rim associated with the tire. The tire and the wheel rim are mounted onto a suspension strut, and the suspension strut is mounted onto the body. The device is arranged outside the interior space of the vehicle. The device includes a sound determination unit and a sound reduction unit. The sound determination unit includes a sensor configured for determining structure-borne noise. The sound reduction unit is configured for generating a vibration.

Abstract: A vehicle controlling method is for a vehicle which comprises an engine, a driving motor connected to the engine, a first clutch connected between the engine and the driving motor, a start motor connected to the engine, a transmission connected to the driving motor, and a second clutch connected between the driving motor and the transmission.

Abstract: A control apparatus for a vehicle that includes (i) a first engagement device configured to connect and disconnect an engine and an electric motor to and from each other, and (ii) a second engagement device configured to connect and disconnect the electric motor and drive wheel to and from each other. In event of a failure of the second engagement device, the control apparatus is configured to forcibly bring the second engagement device into an engaged state and to bring the first engagement device into an engaged state, so as to cause the vehicle to perform a limp-home running in a first running mode in which the vehicle runs using at least the engine. When a running speed of the vehicle becomes lower than a predetermined low-speed threshold value during the limp-home running, the control apparatus is configured to bring the first engagement device into a released state.

Abstract: In one mode, with a vehicle control apparatus, a vehicle control method, and a vehicle control system according to the present invention, a control command is output for operating an actuator unit mounted in a vehicle, so as to obtain a control moment including at least one of a roll moment, a pitch moment, and a yaw moment that are generated for the vehicle before a curve on a traveling road on which the vehicle runs, based on a physical quantity about a curvature ahead on the traveling road and a physical quantity about a speed of the vehicle. In this way, the passenger's sense of security when the vehicle runs on the curve may be improved.

Abstract: Parking settings and map data indicative of parking locations in proximity to a structure that are available for the vehicle are maintained to a memory of a vehicle, the parking settings indicating a first time at which the vehicle is to enter an automatic parking mode in which the vehicle moves among the parking locations in proximity to the structure, and a second time at which the vehicle is to exit the automatic parking mode. In the automatic parking mode, responsive to the parking settings indicating an automated parking movement, the parking locations are selected from to determine a parking location into which to move the vehicle and the automated parking movement is performed using a virtual drive system of the vehicle to move the vehicle from a current parked location in proximity to the structure to the determined parking location in proximity to the structure.

Abstract: A parking support apparatus includes an instruction detection section that detects the occupant's parking instruction based on an operation of the occupant of the vehicle or a history of a motion of the vehicle, and a vehicle control section that performs the automatic parking of the vehicle. When the history indicates that the vehicle has stopped after steering and turning from a straight movement, and that the occupant has performed a predetermined parking instruction operation, the instruction detection section determines that the parking instruction is detected.

Abstract: A parking support apparatus includes a storage that stores a manual parking path, and a processor that sets a safety region where the vehicle can pass. The processor causes the vehicle to perform automatic driving based on the generated automatic parking path, and the processor generates a parking path configured for driving within a range of the performance of the electric power steering and for the vehicle to pass inside the safety region.

Abstract: A moving body control device includes an outside recognition unit, a reception unit, and a control unit. The control unit is configured to register feature points related to the designated parking position based on the recognition data of the outside as registered feature points, perform the automatic parking control for parking the moving body at the designated parking position based on the recognition data of the outside and the registered feature points, and update the registered feature points according to a match rate between the feature points obtained based on the recognition data of the outside when the automatic parking control is executed and the registered feature points.

Abstract: A moving body control device includes: an external environment recognition unit, a reception unit, and a control unit. The control unit registers a feature related to a designated parking position based on recognition data of an external environment of a moving body as a registered feature, and performs an automatic parking control for parking the moving body at the designated parking position based on the recognition data and the registered feature. The control unit updates the registered feature according to a matching rate between a feature obtained based on the recognition data of the external environment during execution of the automatic parking control and the registered feature, and a matching rate between an illuminance of the external environment obtained based on the recognition data of the external environment during execution of the automatic parking control and an illuminance associated with the registered feature.

Abstract: Embodiments relate to transportation systems. More particularly, embodiments relate to methods and systems of vehicle data collection by a user having a mobile device. In a particular embodiment, vehicle data (also termed herein “driving data” or “data”) is collected, analyzed and transformed, and combinations of collected data and transformed data are used in different ways, including, but not limited to, predicting, detecting, and reconstructing vehicle accidents.

Abstract: A method for preventing or mitigating rear-end collisions of a motor vehicle and potential multiple vehicle collisions includes locating, by a sensor system of the motor vehicle, an obstructing vehicle in the front of the motor vehicle located on a trajectory of the motor vehicle, the obstructing vehicle being characterized by a speed below a predetermined first speed threshold, equal to zero; braking the motor vehicle, by an automatic braking system of the motor vehicle, to stop at a predetermined safety distance from the obstructing vehicle; monitoring, by the sensor system, the rear of the motor vehicle for a trailing vehicle approaching the motor vehicle from behind, wherein the sensor system is configured to detect driving information of the trailing vehicle; and performing safety measures by a control system of the motor vehicle in case a rear-end collision is anticipated based on the detected driving characteristics of the trailing vehicle.

Abstract: An apparatus and method for controlling a vehicle are disclosed. The apparatus includes a controller and a sensor configured to obtain surrounding environment information and driving information of the vehicle. The controller is configured to divide, into one or more sections, a section of a road in which a steering change occurs corresponding to obstacle avoidance driving of the vehicle. The controller is configured to, when a collision with an obstacle is determined based on the surrounding environment information and the driving information, separately calculate a control amount for each section, among the one or more sections, according to a type of the road determine the type of the road by determining whether the vehicle is traveling on a straight road or a curved road based on the driving information.

Abstract: A cabin management apparatus according to the present disclosure is a cabin management apparatus configured to manage a cabin of a vehicle, the cabin management apparatus including a communication interface, an output interface, and a controller, wherein the controller is configured to receive, by the communication interface, emergency stop information for the vehicle, receive, by the communication interface, the degree of automated controllability over a door of the vehicle, and provide, by the output interface based on the emergency stop information, a different notification depending on the degree of automated controllability over the door.

Abstract: A vehicle deceleration assistance apparatus proposes a decrease of an assistance level by a deceleration assistance control to an operator or autonomously decreases the assistance level when a weak acceleration or deceleration operation is carried out a predetermined weak acceleration or deceleration operation number of times or more. The weak acceleration operation is an acceleration operation satisfying a predetermined acceleration operation condition that the acceleration operation having an acceleration operation degree equal to or smaller than a predetermined acceleration operation degree, continues being carried out for a predetermined acceleration operation period of time.

Abstract: A vehicle control apparatus executes a collision avoidance control when a collision condition becomes satisfied. The collision condition includes a condition that a lap rate of the own vehicle and the object is equal to or greater than a lap rate threshold. The threshold set when the own vehicle turns, is greater than the threshold set when the own vehicle does not turn. The threshold set when a condition satisfaction period of time is equal to or greater than a predetermined period of time, is smaller than the threshold set when the condition satisfaction period of time is smaller than the predetermined period of time. The condition satisfaction period of time is a period of time that a collision probability condition continues being satisfied while the own vehicle is turning. The collision probability condition is a condition that the own vehicle has a probability of colliding with the object.

Abstract: The disclosure relates to a method for controlling a vehicle. The vehicle shares a traffic infrastructure with a cyclist. The method comprises detecting the cyclist and a location of the cyclist. Subsequently, based on a body pose of the cyclist and a map information, a cyclist path is estimated along which the cyclist is expected to be travelling. Moreover, the method comprises determining whether the vehicle path and the cyclist path interfere with one another. A location of interference of the vehicle path and the cyclist path is determined respectively if the vehicle path and the cyclist path interfere with one another. Additionally, an interference risk describing whether the vehicle and the cyclist risk to interfere with one another at the location of interference is determined and a reaction maneuver is triggered.

Abstract: A method includes obtaining sensor data associated with a target object at a host vehicle and generating at least one first polynomial associated with the host vehicle. Each first polynomial is a representation of an estimated behavior of the host vehicle. The method also includes identifying relative positions of the target object over time and generating at least one second polynomial associated with the target object based on the relative positions. Coefficients of each second polynomial are based on a magnitude of a covariance of the relative positions used to generate the second polynomial. Each second polynomial is a representation of an estimated behavior of the target object. The method further includes determining whether a collision between the host vehicle and the target object is possible based on the first and second polynomials and, in response to determining that the collision is possible, initiating one or more corrective actions.

Abstract: A method includes obtaining sensor data associated with a target object at a host vehicle and identifying relative positions of the target object with reference to the host vehicle over time. The method also includes generating polynomials associated with the target object over time based on the relative positions, where coefficients of each polynomial are based on a magnitude of a covariance of the relative positions used to generate the polynomial. The method further includes generating a weighted combination of the polynomials for the target object, where the weighted combination is a representation of an estimated behavior of the target object. In addition, the method includes determining whether a collision between the host vehicle and the target object is possible based on the weighted combination of the polynomials and, in response to determining that the collision is possible, initiating one or more corrective actions by the host vehicle.

Abstract: A vehicle is caused to track a target trajectory in future travel of the vehicle. A prediction trajectory is generated and obtained by predicting a state quantity of the vehicle in time series at a plurality of prediction points so as to approach the target trajectory. A steering command is output for operating the vehicle according to the prediction trajectory. The generating of the prediction trajectory includes: adjusting a plurality of prediction intervals to be wider as a distance from the vehicle increases. The prediction intervals are defined as an interval between adjacent prediction points in a prediction section for generating the prediction trajectory.

Abstract: A driving support apparatus including a processor, where the processor acquires operation information for an own vehicle by a driver at the time of a driving assistance intervention for keeping a lane of the own vehicle, environmental information including another vehicle around the own vehicle, and biometric information of the driver, estimates emotion of the driver based on the operation information, the environmental information, and the biometric information, estimates control parameters related to an amount of intervention at the time of driving assistance intervention based on the estimation result of emotion of the driver, and controls the own vehicle based on the control parameters.

Abstract: A controller executes lane change control or passing control of a vehicle capable of automated driving. The controller includes at least one processor, and at least one memory which is a non-transitory tangible storage medium configured to store data and program instructions to be used by the processor. The at least one processor is, when the program instructions stored in the at least one memory is executed by the at least one processor, configured to carry out restricting the lane change control or the passing control in a case where continuation of the automated driving or smooth behavior control of the vehicle is estimated to be difficult.

Abstract: An information processing method includes, by an information processing apparatus: receiving first information relating to a second vehicle acquired using a sensor from a first in-vehicle terminal installed in a first vehicle; specifying communication identification information on the second vehicle based on the first information and second information indicating a characteristic of a surrounding vehicle present around the first vehicle; and sending the communication identification information to the in-vehicle terminal.

Abstract: The driving assistance apparatus includes an entrance width acquisition unit configured to acquire an entrance width of a roundabout in front of the vehicle based on an image captured by a front camera of the vehicle, or position information and map information of the vehicle, an other vehicle passage time calculation unit configured to calculate a passage time when another vehicle traveling in the roundabout passes the entrance width based on the image captured by the front camera of the vehicle, a vehicle speed estimation unit configured to estimate a vehicle speed of the other vehicle based on the entrance width and the passage time, and a vehicle speed setting unit configured to set a set vehicle speed for roundabout traveling based on the vehicle speed of the other vehicle.

Abstract: A deceleration support device is applied to a vehicle provided with a steering assist device that requests a driver to perform hands-on when a vehicle speed or a lateral acceleration of the vehicle exceeds a corresponding control reference value in a situation where a steering mode is a hands-off mode, and includes a control unit that calculates a target deceleration based on a traveling situation of the vehicle when the vehicle needs to be decelerated, and decelerates the vehicle based on the target deceleration. The control unit calculates the target deceleration so that neither the vehicle speed nor the lateral acceleration of the vehicle exceeds the corresponding control reference value when the vehicle needs to be decelerated in a situation where the steering mode is the hands-off mode.

Abstract: The present disclosure relates to a vehicle control system (2) comprising a control unit arrangement (3) and at least one sensor arrangement (4, 5) in an ego vehicle (1). The sensor arrangement (4, 5) is adapted to provide sensor information for one preceding target vehicle (6) and surrounding target vehicles (7, 8, 9, 10, 11) separate from the preceding target vehicle (6). The control unit arrangement (3) is adapted to control an ego vehicle speed (v1) in dependence of the sensor information associated with the preceding target vehicle (6) such that an ego distance (r1) between the ego vehicle (1) and the preceding target vehicle (6) is obtained.

Abstract: A traveling control apparatus includes a computer device configured to perform control that causes a first vehicle to travel at a set constant vehicle speed or to travel following a second vehicle traveling in front of the first vehicle. The computer device is configured to set a third vehicle traveling on a merging lane merging with a traveling lane of the first vehicle and having an intention to enter a traveling lane of the first vehicle as a target to follow, and, when the third vehicle is set as the target to follow, perform a merge-to-follow process in which an inter-vehicular distance is allowable which is shorter than a target inter-vehicular distance set in the control that causes the first vehicle to travel following the second vehicle traveling on the traveling lane of the first vehicle.

Abstract: A method for operating a driver assistance system for automated longitudinal control of a motor vehicle in a current lane. The method includes: performing automated longitudinal control at a relative maximum speed taking into account a traffic situation in the current lane of the motor vehicle; evaluating a traffic situation in an adjacent lane to the motor vehicle; ascertaining a risk situation for the motor vehicle taking into account the traffic situation in the adjacent lane; adapting the automated longitudinal control to reduce the risk situation, the adaptation involving reducing the relative maximum speed. A device configured to carry out the method, and a corresponding computer program are also described.

Abstract: Systems, methods, and other embodiments described herein relate to improving initiating hitchless towing between a lead vehicle and a following vehicle. In one embodiment, a method includes in response to initiating hitchless towing between a lead vehicle and a following vehicle, generating a hitching path that provides a route from the following vehicle to the lead vehicle, controlling the following vehicle to travel the hitching path, aligning the following vehicle with the lead vehicle, and controlling the following vehicle to perform the hitchless towing by following the lead vehicle without a physical connection.

Abstract: A driver assistance system in a host vehicle is provided. The driver assistance system is configured to: track a plurality of obstacles in front of the host vehicle; receive host vehicle driver selection of a follow operating mode for the driver assistance system via a human machine interface (HMI); identify a candidate lead vehicle from the plurality of tracked obstacles; provide, via the HMI, a line of sight view in front of the host vehicle that includes the candidate lead vehicle; receive host vehicle driver selection of the candidate lead vehicle as a lead vehicle to follow; adjust a desired trajectory calculated by the driver assistance system to obtain and maintain a desired headway between the lead vehicle and the host vehicle; and generate control signals for vehicle actuators to control the host vehicle to follow the desired trajectory to follow the lead vehicle.

Abstract: A method for stopping undesired continuation in a current direction of travel of a work machine, wherein the work machine has an electrical machine for propulsion of the work machine, the method including detecting a desired direction of travel of a driver of the work machine. The method further includes detecting a state variable of the work machine that correlates with an actual direction of travel of the work machine determining, on the basis of the detected desired direction of travel and the detected state variable, whether the electrical machine is in a safety-critical state, and, if it has been determined that the electrical machine is in the safety-critical state, sending a signal to the electrical machine to convert the electrical machine into a state not suitable for propulsion.

Abstract: A traffic control system implements methods for transmitting current states of a traffic control device (TCD). The traffic control system may also transmit anticipated state transition of the TCD. The traffic control systems may additionally transmit confidence level of the anticipated state change and its timing. The current state, the anticipated transition, and the confidence level are received by a vehicle computer, which may perform adjustments to vehicle power train operations in response to the received information.

Abstract: The present disclosure relates to an apparatus and a method of processing traffic light information for an autonomous vehicle, which selectively receive and process signal information of an intersection of interest based on a position and a heading direction of the autonomous vehicle, and the apparatus includes: a positioning module 101 to detect a position and a heading direction of an autonomous vehicle 200; a navigation module 102 for selecting an intersection of interest based on the position and the heading direction of the autonomous vehicle 200; and a signal processing module 103 for selecting traffic light information of the intersection of interest from a V2I message, and selecting signal information for a directional signal of interest corresponding to a direction of travel of the autonomous vehicle at the intersection of interest from the traffic light information.

Abstract: A roundabout characteristics recognition system for an autonomous driving vehicle. The roundabout characteristics recognition system detects the various remote object trajectories around the roundabout traffic circle environment and analyzes the trajectories to extract feature data relevant to the roundabout topology and geometry. The roundabout characteristics recognition system processes the remote object trajectories data and determines the statistical characteristics of the various topological characteristics and geometric characteristics for path planning and control to make a more precise decision for operation of the autonomous driving vehicle.

Abstract: A course generation device generates course information indicating a course on which a moving body moves. The device outputs a course that the moving body is traveling and a course in the movement destination, generates the course connecting the course that the moving body is traveling to the movement destination, as a curve, estimates or detects an avoidance area to be avoided in traveling, based on an image captured by a camera, and selects again at least one of a start point and an end point of the course to be regenerated, in a case where a distance between the avoidance area and the course is shorter than a predetermined distance, and generates again the course for the distance to be equal to or longer than the predetermined distance.

Abstract: A long-distance lane change planning of an ADV is performed. A driving environment is perceived based on sensor data obtained from a plurality of sensors mounted on an ADV, including obtaining information of one or more obstacles on an adjacent lane. In response to a request to make a lane change from a current lane on which the ADV is driving to the adjacent lane, an S-V map is generated based on the information of the one or more obstacles. Each point on the S-V map represents a state of the ADV including a distance and a speed of the ADV. A trajectory of the ADV is generated using dynamic programming based on the S-V map. The ADV is controlled to drive autonomously according to the trajectory to make the lane change to the adjacent lane and avoid the one or more obstacles.

Abstract: A control device includes: a control unit that controls a vehicle. Further, the control unit determines, when the vehicle travels in a section including a plurality of lanes, whether a negative emotion associated with a lane change is detected in a preceding vehicle on a same lane as the vehicle, and causes, in a case of determining that the negative emotion is detected, a notification device of the vehicle to give notification of instruction information giving an instruction for the lane change.

Abstract: A vehicle control device includes a decider configured to decide on a start and a cancelation of a travel mode in which a vehicle travels at or below a target speed set by a driver of the vehicle and a controller configured to control traveling of the vehicle in the travel mode in accordance with a decision result of the decider. The decider sets a state of the cancelation of the travel mode as a deferred state when the operation amount of a brake operation on a brake pedal of the vehicle is less than or equal to a threshold value if a cancelation operation is performed according to the brake operation when the start of the travel mode is decided on in accordance with a first start operation and the controller controls the traveling and decides to continue the travel mode when a second start operation different from the first start operation is performed in the deferred state.

Abstract: A vehicle control device includes a processor. The processor calculates an instruction value of an operation request for controlling an operation of an actuator mounted on a vehicle based on a motion request from an application. The processor executes feedback control on the instruction value using a deviation between the motion request and a motion result of the vehicle that is calculated based on one of detection values of four wheel velocity sensors. The processor calculates the motion result in the feedback control based on a detection value indicating the second largest vehicle body velocity among the vehicle body velocities indicated by the detection values of the four wheel velocity sensors when the vehicle is braked.

Abstract: A controlling method for a vehicle which comprises an engine, a driving motor connected with the engine, a first clutch connected between the engine and the driving motor, a start motor connected with the engine, a transmission connected with the driving motor, and a second clutch connected between the driving motor and the transmission, comprises synchronizing speeds of the engine and the driving motor, and adjusting a torque of the start motor to release baulking which occurs while a connection state of the first clutch is switched to another connection state upon the speeds of the engine and the driving motor being synchronized.