Abstract: A method of controlling a four-wheel drive vehicle permits reverse travel on a low-? road without engaging shock. In a four-wheel drive vehicle in which two-wheel drive and four-wheel drive can be changed over by means of a rotation transmission device having a two-way clutch and an electromagnetic coil for controlling engagement of the two-way clutch, the traveling direction of the vehicle is detected with rotation sensors for detecting the rotational direction of the front and rear wheels. If the traveling direction of the vehicle is different from the traveling direction of the range, the two-way clutch is engaged.

Abstract: There is disclosed a driving force control system for a four-wheel drive vehicle, which is capable of properly controlling the execution and cancellation of a lock mode in which the engagement forces of clutches for distributing a driving force to auxiliary drive wheels are made maximum, thereby reducing frequency and duration of the lock mode. Further, there is disclosed a driving force control system for a four-wheel drive vehicle, which is capable of properly controlling the engagement forces of clutches for distributing a driving force of the main drive wheels to auxiliary drive wheels, thereby causing the clutches to efficiently operate without waste of power.

Abstract: A four-wheel drive vehicle provides a torque distribution clutch mechanism which directly transmits the driving force generated from the engine to one of two front wheels or two rear wheels, and which transmits it to the other wheels therethrough in order to control the engaging force in accordance with a traveling status of the four-wheel drive vehicle. The vehicle further comprises a tight corner judging structure, a normal mode setting structure, a low friction road judging structure and a tight mode setting structure. The tight corner judging structure judges whether the vehicle travels at a large turning angle or not, and the normal mode setting structure sets a normal mode to control the engaging force when it is judged by the tight corner judging structure that the vehicle does not travel at the large turning angle.

Abstract: The four-wheel-drive vehicle has a torque transmission device configured to distribute torque transmitted from an engine to a first set of wheels to a second set of wheels. Throttle-opening of the engine is detected. A first torque command which depends on the throttle-opening is obtained. A rotational speed difference between the first set of wheels and the second set of wheels is detected. A second torque command which depends on the rotational speed difference is obtained. The torque transmission device is controlled based on the first and the second torque command so as to transmit the driving force to the second set of wheels according to the throttle-opening and the rotational speed difference. Then, a signal that corresponds to the throttle-opening is monitored. When the signal is judged being abnormal, the first torque command is ignored so that the torque transmission device is controlled based on the second torque command.

Abstract: A torque distribution control device for a four-wheel drive vehicle has a torque distribution device for distributing the drive power transmitted from an engine to either of the front wheels or the rear wheels as prime drive wheels, to other wheels as sub-drive wheels. The control device judges whether or not an abnormality is involved in wheel speed signals which are input from wheel speed sensors associated respectively with the front and rear wheels. A normal-state method of calculating a command torque which is applied to the torque distribution device to vary the drive power transmitted to the sub-drive wheels, is then altered to an abnormal-state method of calculating the command torque based on data which does not include one wheel speed signal involving the abnormality when the same occurs with one of the wheel speed signals, whereby the vehicle is enabled to continue the four-wheel drive even when the abnormality occurs.

Abstract: A vehicle dynamics control (VDC) apparatus for an automotive vehicle with a differential limiting device capable of limiting at least one of a differential motion between front and rear wheel axles and a differential motion between left and right wheel axles, includes a VDC system that controls a braking force of at least one of road wheels to control vehicle cornering behavior depending on a vehicle's turning condition independently of a driver's braking action. The VDC system advances a VDC initiation timing used in a differential limited state in which at least one of the front-and-rear wheel axle differential motion and the left-and-right wheel axle differential motion is limited, in comparison with a VDC initiation timing used in a differential non-limited state in which the front-and-rear wheel axle differential motion and the left-and-right wheel axle differential motion are allowed.

Abstract: In a motor vehicle driveline including a transfer case whose output is continually connected to a first output, a clutch, operating partially engaged, responds to a control signal to change the degree of clutch engagement, whereby a second output is connected driveably to the first output. A digital computer, repetitively executing a computer readable program code algorithm for operating the clutch partially engaged, continually selects a desired magnitude of clutch engagement with reference to functions indexed by vehicle speed and either engine throttle position or engine throttle rate. The computer repetitively updates at frequent intervals the desired degree of clutch engagement, and issues a command clutch duty cycle to a solenoid-controlled valve, which signal changes the degree of clutch engagement in response to the command signal.

Abstract: In a drive system switching control method of an automotive four-wheeled vehicle for switching two drive systems comprising a two-wheel drive and a four-wheel drive. The method has a step of detecting a steering angle, and a step of inhibiting the drive system switching if the detected steering angle is over a predetermined angle.

Abstract: A yaw management system for a vehicle with driveline torque control is comprised of sensors to determine the rate of change of yaw in the vehicle, a controller for receiving information from the sensors, and a means for using that information to selectively transfer torque from the inner half shaft axles of the vehicle to the outer half shaft axles of the vehicle for regulating the torque delivered to the drive wheels.

Abstract: In steering control for individually controlling wheel steering angles &agr;1, &agr;2, &agr;3, and &agr;4 of a vehicle in accordance with a condition equation for forming a prescribed mode, one of the condition equation variables is used as a steering command value S. In a process for changing the command value S from a value S1 to a value S2, for transitioning the steering angles &agr;1, &agr;2, &agr;3, &agr;4 from values [&agr;1, &agr;2, &agr;3, &agr;4]S1 corresponding to the steering command value S1, to values [&agr;1, &agr;2, &agr;3, &agr;4]S2 corresponding to the steering command value S2, the steering angles &agr;1, &agr;2, &agr;3, &agr;4 are changed toward incremental transition steering angles [&agr;1, &agr;2, &agr;3, &agr;4]S1+&Dgr;S corresponding to a steering command value (S1+&Dgr;S), which is the steering command value S1 to which an incremental steering command value &Dgr;S has been added.

Abstract: A vehicle stability enhancement system for a vehicle having a vehicle subsystem includes a sensor for sensing a vehicle parameter, a vehicle control system for adjusting the vehicle subsystem, a memory having a register that includes a bank angle compensation control command, and a controller responsive to the sensor and the memory for controlling the vehicle control system.

Abstract: A control apparatus for four wheel drive vehicle having differential limiting unit has: turning state determining unit; actual left and right wheel differential speed calculating unit; target differential speed setting unit; differential limiting torque calculating unit for setting a differential limiting torque at 0 in the event that an inside wheel speed falls below an outside wheel speed by a preset threshold value in the turning condition, and calculating a differential limiting torque on the basis of the target left and right wheel differential speed and the actual left and right wheel differential speed in the event that an inside wheel speed exceeds an outside wheel speed by the preset threshold value in the turning condition; and front and rear wheel differential limiting torque setting unit for setting a front and rear wheel differential limiting torque on the basis of a differential limiting torque which is calculated.

Abstract: An electronic anti-skid device for motor vehicles with hydrostatic transmission has at least one sensor for the transmission of data pertaining to the output of the hydrostatic transmission, a steering angle detector and an electronic computer. The electronic computer uses data from the sensor to calculate theoretical power output of the hydraulic motors of the driver wheels of the vehicles and, thus, the theoretical speed of the wheels. The electronic computer is programmed to scan the detectors at very rapid intervals, and to adjust, on each scan, hydraulic output from output regulators. The output regulators have electrical controllers and are coupled to each hydraulic motor of a driven wheel way as to limit the power from each regulator to a value marginally above the theoretical output for the motor of the wheel to which the power regulator is connected.

Abstract: In drive controlling apparatus and method for an automotive vehicle, at least one couple of road wheels constitutes one pair of parallel road wheels with respect to a vehicular width direction, a plurality of motors driving independently and separately each road wheel of the pair of parallel road wheels are provided, and a power supply supplies an electric power to the plurality of motors, the plurality of motors driving respective road wheels of the pair of parallel road wheels being enabled to constitute a serial circuit with respect to the power supply.

Abstract: A drive system changing device actuated in an emergent operation is characterized by having a vehicle speed detecting means detecting a vehicle speed before a deceleration start; a deceleration detecting means detecting a negative acceleration due to a sudden braking; a steering angle detecting means detecting a steering angle when a sudden operation is performed in the sudden braking; a determination means determining whether or not to change a drive system from a result obtained from each means of the above detecting means; a driving force separating means changing a four wheel drive system to front/rear wheel drive systems by separating a part of driving force transmitting unit of the four wheel drive system according to a determination of the determination means; and a drive system returning means returning the drive system changed to the front/rear wheel drive systems after the emergent operation by the separating means to the four wheel drive system.

Abstract: A vehicle has a transmission apparatus that changes the distribution of power transmitted from a power source to a plurality of wheels. The method for distributing power of the vehicle includes detecting the temperature of a part located on a power transmission path between the power source and a wheel to which power is transmitted from the power source through the transmission apparatus, the heat of the part being increased as the power distribution ratio is increased; determining that the current state is a specific state in which the detected temperature reaches a previously set first reference temperature; and controlling the transmission apparatus to lower the power distribution ratio to the wheel from the transmission apparatus when the current state is determined to the specified state.

Abstract: A method of controlling a four-wheel drive vehicle is provided which permits reverse travel on a low-&mgr; road without engaging shock. In a four-wheel drive vehicle in which two wheel drive and four-wheel drive can be changed over by means of a rotation transmission device having a two-way clutch and an electromagnetic coil for controlling engagement of the two-way clutch, the traveling direction of the vehicle is detected with rotation sensors for detecting the rotational direction of the front and rear wheels, and if the traveling direction of the vehicle is different from the traveling direction of the range, the two-way clutch is engaged.

Abstract: The invention concerns a method and a system for identifying tires of a vehicle, tire pressures of the tires of the vehicle being measured and analysed for the driving-dynamic states of the vehicle with the use of parameters which indicate the driving-dynamic states. Individual tires of the vehicle are unambiguously identified on the basis of the analysis of the measured tire pressures or their variations.

Abstract: A hybrid vehicle control apparatus controls an engine that rotates at least one first wheel and a mechanically independent electric motor that rotates at least one second wheel. The hybrid vehicle control apparatus stabilizes the vehicle driving performance when there is a change in the portion of the total drive torque that should be carried by the engine. Thus, the hybrid vehicle control apparatus prevents degradation of the vehicle driving performance due to the response of the engine when the drive force distribution is shifted. The target drive torque of the engine driven wheels is calculated by multiplying the total target drive torque by a rear wheel drive force distribution ratio. The target drive torque of the motor driven wheels is calculated by estimating the actual drive torque of the engine driven wheels and subtracting this estimated value from the total target drive torque.

Abstract: In driving force controlling apparatus and method for a four-wheel drive vehicle, a driving force distribution controller determines whether there is a vehicular driver's demand on the driving force, calculates a driving force distribution ratio between front and rear road wheels in such a manner that a driving force distribution rate for auxiliary driven wheels is updated to its maximum value on the basis of a slip quantity of main driven wheels when determining that there is the vehicular driver's demand on the driving force, calculates another driving force distribution ratio therebetween in accordance with the acceleration slip quantity when determining that there is no vehicular driver's demand on the driving force, and is operated to adjust variably the driving force therebetween in such a manner that the driving force distribution ratio between the front and rear road wheels indicates that calculated by either one of the above-described two methods.

Abstract: In a vehicle in which an engine output power is transmitted to front and rear wheels through a transmission and an inter axle differential, a wheel lock prevention device is provided. The wheel lock prevention device comprises a differential lock mechanism for locking the inter axle differential, a detection element for detecting a wheel lock state of the front and rear wheels, and an operation element for operating the differential lock mechanism so as to lock the inter axle differential by operating the differential lock mechanism upon the detection of the wheel lock state.

Abstract: In a power distribution control system for a four-wheel-drive vehicle, a 4WD controller is electronically connected to a friction clutch for controlling a torque distribution ratio. The 4WD controller determines whether a past-history condition that a clutch input torque has been greater than or equal to a predetermined threshold value is satisfied when a command torque is greater than or equal to the predetermined threshold value, and determines whether a command torque condition that a current command torque is greater than or equal to the predetermined threshold value is satisfied, and also determines whether a reversal-of-torque condition that an input direction of torque inputted into the friction clutch is reversed is satisfied. The 4WD controller outputs a countermeasure-of-noise command torque decreased from the current command torque as a command signal for the friction clutch, when the past-history condition, the command torque condition, and the reversal-of-torque condition are all satisfied.

Abstract: A differential limiting control apparatus for a vehicle has: clutch unit interposed between one rotational shaft and the other rotational shaft for variably transmitting a driving force between the one rotational shaft and the other rotational shaft; target differential speed setting unit for setting a target differential speed between the one rotational shaft and the other rotational shaft, actual differential speed detecting unit for detecting an actual differential speed between the one rotational shaft and the other rotational shaft, and clutch torque computing unit for computing an engagement force of the clutch unit by obtaining a deviation between the target differential speed and the actual differential speed, configuring a switching function by using at least a polarity related to an integral term of the deviation, and applying a sliding mode control.

Abstract: In a specific control state, confirmation is made whether or not the present torque limiter value exceeds a maximal value of an allowed torque value in the specific control state, and in the event that the present torque limiter value exceeds the maximal value of the allowed torque value in the specific control state, the torque limiter value is slowly lowered by subtracting a constant A1 from the present torque limiter value, while in the event of transition from the specific control state to an ordinary control state, the torque limiter value is slowly raised to the maximal torque limiter value in the ordinary control state by adding a constant A2 to the present torque limiter value. Thus, excessive change of torque at transition of a control state can be suppressed, and adverse effects on driving stability and driving performance under the specific control state can be minimized.

Abstract: A temporary indicated torque is obtained by taking a conventional dead zone area for a first slip control area, and the value proportional to the slip quantity for a maximum value, this temporary indicated torque is corrected by a correction value according to the tight cornering brake quantity to be the indicated torque of the transfer clutch, and occurrence of any tight cornering brake phenomenon is prevented thereby. In a slip control area after passing a dead zone area (a second slip control area), the slip control is smoothly transferred from the first slip control area to the second slip control area by performing the slip control with a value of the indicated torque according to the slip quantity added to the indicated torque in the first slip control area as the indicated torque, abrupt torque change is prevented, and the vehicle behavior is stabilized thereby.

Abstract: A four-wheel drive vehicle includes a coupling, which varies the distribution ratio of torque to the front wheels and the rear wheels. The distribution ratio of torque to the front wheels and the rear wheels is determined by the engaging force of the coupling. An ECU sets first to third determination threshold values for the opening degree of a throttle valve of an engine in accordance with the detected vehicle speed. The ECU determines whether the vehicle is in a steady driving state by comparing the detected throttle opening degree with the set first to third determination threshold values and controls the engaging force of the coupling in accordance with the determination result. Thus, the steady driving state of the vehicle is correctly determined.

Abstract: A method for controlling the safety mode of a four-wheel drive to control the magnetic clutch at a safety mode duty to reduce overload for a predetermined period of time when the slip of the magnetic clutch is greater than an allowable slip, despite controlling the magnetic clutch at its maximum duty.

Abstract: A system and method are provided for managing faults in position sensing device and shift device; such faults are the unwarranted code change, power loss fault, and channel fault. The faults correspond to those that either turn it on without a command from the controller or those that do not allow it to turn on despite a command from the controller. The limited operation actions under these fault conditions constitute disabling shifting, enabling shifting until a main-stop is reached, and/or railing on two-wheel side. There are alternatives in reset mechanism, namely, maintaining the limited operation mode until service, reset upon ignition key going from OFF to RUN, key going from START to RUN, or a simple change in Mode Select Switch after limited operation action of the controller, etc. Auto-reset under conditions of auto-fault recovery are also included.

Abstract: A hunting detecting device used for an electrical load detecting device sets a current command value for an electrical load. Based on a deviation between a current that actually flows through the electrical load and the current command value, the hunting detecting device performs at least proportional control in a group including proportional control, integral control, and differential control. The hunting detecting device sends a current generated based on the performed control to the electrical load. A current determining device determines whether there is a current through the electrical load. When the current determining device determines that there is a current through the electrical load, a hunting detector detects a number of times of hunting within a predetermined period.

Abstract: A method for redistributing driving torque between front and rear driving wheels of a vehicle traveling at essentially the same speed. The method includes determining a vehicle condition corresponding to load, based upon at least one vehicle parameter, comparing the determined vehicle condition to a predetermined value, wherein if the determining vehicle condition exceeds the predetermined value, a high load condition exists, and redistributing the driving torque between the front and rear wheels, when the determining step determines that a high load condition exists. By controlling torque redistribution in accordance with one or more high load conditions on the driveline components, subsequent damage of the driveline system can be reduced or prevented.

Abstract: A method and apparatus for overcoming negative torque transfer in a passive coupling (43) in a vehicle (10) having all wheel drive. The vehicle (10) includes a front driveshaft (22), a rear driveshaft (26), with the passive coupling (43) connecting the front driveshaft (22) and the rear driveshaft (26). The vehicle (10) also includes a transmission (30) operatively connected to the passive coupling (43). The method includes determining negative torque transfer in the passive coupling (43) and requesting the vehicle (10) to increase transmission output equal to the negative torque transfer.

Abstract: The four-wheel-drive vehicle has a torque transmission device configured to distribute torque transmitted from an engine to a first set of wheels to a second set of wheels. Throttle-opening of the engine is detected. A first torque command which depends on the throttle-opening is obtained. A rotational speed difference between the first set of wheels and the second set of wheels is detected. A second torque command which depends on the rotational speed difference is obtained. The torque transmission device is controlled based on the first and the second torque command so as to transmit the driving force to the second set of wheels according to the throttle-opening and the rotational speed difference. Then, a signal that corresponds to the throttle-opening is monitored. When the signal is judged being abnormal, the first torque command is ignored so that the torque transmission device is controlled based on the second torque command.

Abstract: There is provided a device for transmitting optical data installed in an automated guided vehicle and a plurality of manufacturing machines which are arranged on a manufacturing line so as to transmit data necessary for delivery of a transfer object by two-way communication within a transportation system. The transportation system has an interlocking mechanism for suspending an operation when a trouble occurs and transports the transfer object to the plurality of manufacturing machines by the automated guided vehicle. The device includes a non-volatile memory for recording and holding a communication log, and communication log recording means for writing a communication log in said non-volatile memory and outputting recorded contents of the communication log to an external device when there is an inquiry from the external device.

Abstract: In a vehicle in which a torque generated in an engine is transmitted to driven wheels through a torque converter and an automatic transmission, when a speed ratio e in the torque converter is equal to or larger than a predetermined value (e.g., 0.85), and the accuracy of estimating a capacity &tgr; of the torque converter is low, an estimated engine torque Ti is multiplied by a torque ratio k of the torque converter to estimate a drive torque Td. When the speed ratio e in the torque converter is smaller than the predetermined value, and a response lag is produced in the transmission of the engine torque, a drive torque Td is estimated from an engine rotational sped Ne and the speed ratio e in the torque converter. During shifting of the automatic transmission, a drive torque Td is estimated from a wheel speed V. Thus, a correct drive torque can be estimated.

Abstract: A rear steer control for a motor vehicle considers vehicle velocity in three ranges and provides an out of phase rear steer angle in open loop control within a low velocity range for oversteer assistance of parking and similar vehicle maneuvers, an in phase rear steer angle in closed loop control responsive to vehicle yaw rate within a high velocity range for understeer vehicle stability assistance, and a steer angle in closed loop control responsive to vehicle yaw rate within an intermediate velocity range. In a preferred embodiment, the closed loop control in the high velocity range may be combined with an open loop control. The control further provides supplemental throttle adjustments in coordination with the rear steer control for increased traction and stability in a turn.

Abstract: A power distribution control system for a vehicle, in which a front/rear drive-force distribution control unit computes a torque-response-torque, a revolution-difference-response-torque and a yaw-rate feed back torque. When a torque down command by a traction control is not outputted to an engine control unit, and a braking force control is not active, a transfer clutch torque is setted as defined by a predetermined equation.

Abstract: A method and a system for recongnizing both a driving-dynamic state of a vehicle and a surface quality of the carriageway of which the vehicle is moving. The pressures of the tires of the vehicle are measured and evaluated so that conclusions can be draw on both current driving-dynamic states and existing surface qualities of the carriageway.

Abstract: A control system controls a hybrid vehicle having an engine for rotating a drive axle, an electric motor for assisting the engine in rotating the drive axle and converting kinetic energy of the drive axle into electric energy in a regenerative mode, and an electric energy storage unit connected through a drive control circuit to the electric motor, for storing electric energy. The control system has a regenerative quantity determining unit which includes first, second, and third first regenerative quantity establishing units. The first regenerative quantity establishing unit establishes a first regenerative quantity for the electric motor based on a vehicle speed of the hybrid vehicle when the supply of fuel to the engine is stopped upon deceleration of the hybrid vehicle. The second regenerative quantity establishing unit establishes a second regenerative quantity for the electric motor based on a remaining capacity of the electric energy storage unit.

Abstract: A system for monitoring a motor vehicle subsystem (42) whereby the vehicle velocity may be influenced includes an evaluation device (14) which determines an actual operating variable of the subsystem (42) according to at least one operating parameter of the vehicle (36) and evaluates the functionality of the subsystem to be monitored (42) on the basis of the determined actual operating variable. It also includes at least one wheel-force sensor device (10) associated with a wheel (12), which detects at least one wheel-force component of the particular wheel (12) acting essentially between the driving surface and the tire contact area as the at least one operating parameter and outputs a signal (Si, Sa) representing the wheel-force component; the evaluation device (14) determines the actual operating variable from the processing of the signal (Si, Sa) which represents the wheel-force component. A corresponding monitoring method is also described.

Abstract: A sensor and a control circuit are provided externally of a gear cover. This enhances reliability of a shift controller operated by an electric actuator and a motor driven control module similar thereto, and constitute them compact. Further, this provides a rotating position detection sensor suitably used for a switching device as described. A circuit and a sensor are not contaminated with oil or metal powder of a gear mechanism portion.

Abstract: A system and method for detecting wheel lift of an automotive vehicle includes a yaw rate sensor (28) that generates a yaw rate signal, a lateral acceleration sensor (32) that generates a lateral acceleration signal, a roll rate sensor (34) generating a roll rate signal, and a longitudinal acceleration sensor (36) for generating a longitudinal acceleration signal. A controller (18) is coupled to the yaw rate sensor (28), the lateral acceleration sensor (32), the roll rate sensor (34), and the longitudinal acceleration sensor (36). The controller determines a dynamic load transfer acting on the plurality of wheels as a function of yaw rate, lateral acceleration roll rate, and longitudinal acceleration. Normal forces for each of the plurality of wheels is determined as a function of the dynamic load transfer. Wheel lift is indicated when at least one of the normal forces for each of the plurality of wheels is less than a normal force threshold.

Abstract: A driving force control system for a four-wheel drive vehicle, which is capable of preventing occurrence of a tight-turn braking phenomenon by relatively simple construction to thereby reduce the manufacturing cost thereof, and at the same time, enhancing the response of slippage-eliminating control on main drive wheels, and stability of the vehicle. The 2/WD·ECU of the driving force control system controls electromagnetic clutches of a four-wheel drive vehicle having front wheels as main drive wheels and rear wheels as auxiliary drive wheels, whereby the LSD torque to be distributed to the rear wheels is controlled.

Abstract: A system and method are provided for managing faults in position sensing device and shift device. The faults in the sensing device are the unwarranted code change, power loss fault, and the channel fault. The faults considered in the shifting device correspond to those that either turn it on without a command from the controller or those that don't allow it to turn on despite of a command from the controller. The limited operation actions under these fault condition constitute disabling shifting, enabling shifting until a main-stop is reached, railing on two-wheel side, or a combination of these. Moreover, there are several alternatives in reset mechanism, namely, maintaining the limited operation mode until service, reset upon ignition key going from OFF to RUN, key going from START to RUN, or a simple change in Mode Select Switch after the limited operation action of the controller, etc. Auto-reset in the conditions of auto-fault recovery as in the transient fault conditions are also included.

Abstract: A traction control system of a vehicle having a device for calculating a target traction torque of each of a pair of driving wheels based upon operating conditions of the vehicle, a device for calculating a target slip ratio of each of the pair of driving wheels based upon the target traction torque calculated therefor, and a device for controlling the engine and the brake system such that actual slip ratio of each of the pair of driving wheels coincides with the target slip ratio calculated therefor according to a feedback control, with a partial feedforward control of the engine and the brake system based upon the target traction torque.

Abstract: In a method for determining the lateral acceleration of a motor vehicle, the lateral acceleration is calculated from signals of a wheel sensor and a load sensor. Since in many cases these sensors are already present on the vehicle, e.g., for chassis control, additional sensors are not necessary. The values for the lateral acceleration thus ascertained may then be used in further devices, such as for a vehicle dynamics controller or a device for preventing tipping. For example, usable as a load sensor in the case of a pneumatic suspension is also a pressure sensor which measures the pressure within the pressure bellows of the pneumatic suspension and supplies a signal, corresponding to the mass or the axle load, to the control. The lateral acceleration may be determined with the aid of a steering-angle sensor.

Abstract: An electrical control system for vehicles has a plurality of separate control modules which communicate via a communication bus and an operational program is installed in each of the modules so that all modules contain programming for the functions of each module. A programming and diagnostic system including a PC and a program connects into the bus so as to download the program from one of the modules for generating, modifying and viewing program logic steps using ladder logic which is then converted back Into an operating program format for communication to the modules. In addition, the status of the inputs and outputs of the modules of the apparatus can be displayed and forced using the programming and diagnostic system.

Abstract: In driving force controlling apparatus and method for a four-wheel drive vehicle, a command is outputted to a front-and-rear wheel driving force distribution control system to reduce a clutch engagement force of a clutch such as a frictional clutch when a subtraction value of a detected value of a clutch transmission torque from that of a clutch input torque (Tinp−Tr) is smaller than a predetermined value (&dgr;) and detected wheel velocities of both of left and right road wheels of the vehicle are substantially equal to each other (Vw1±&agr;=Vw2 and Vw3±&agr;=Vw4).

Abstract: A four-wheel drive vehicle includes a coupling, which varies the distribution ratio of torque to the front wheels and the rear wheels. The distribution ratio of torque to the front wheels and the rear wheels is determined by the engaging force of the coupling. An ECU sets first to third determination threshold values for the opening degree of a throttle valve of an engine in accordance with the detected vehicle speed. The ECU determines whether the vehicle is in a steady driving state by comparing the detected throttle opening degree with the set first to third determination threshold values and controls the engaging force of the coupling in accordance with the determination result. Thus, the steady driving state of the vehicle is correctly determined.

Abstract: A correction factor setting unit sets correction factors for a front-rear traction distribution control unit, an anti-lock brake control unit, a traction control unit, and a braking power control unit according to the situation of a road and the shape thereof which are inputted from a road information recognizing unit. At this time, the correction factors are preset values according to the situation of the road and the shape thereof so that the actions of the control units will be balanced with each other. Consequently, the plurality of vehicle behavior control units mounted in a vehicle act efficiently according to the situation of the road, on which the vehicle is driven forwards, and the shape thereof while quickly responding to the situation of the road and the shape thereof. Besides, the actions of the vehicle behavior control units are balanced with one another.

Abstract: A driving force control system for a four-wheel drive vehicle for controlling the execution and cancellation of a lock mode in which the engagement forces of clutches for distributing a driving force to auxiliary drive wheels are made maximum. The driving force control system properly controls the engagement forces of clutches for distributing a driving force of the main drive wheels to auxiliary drive wheels. When the vehicle is determined to be in a predetermined low vehicle speed condition and the transmission is in any of predetermined low-speed shift positions, execution of a lock mode is permitted in which the clutch engagement forces are controlled to lock the main and auxiliary drive wheels to each other. When the driving force of the main drive wheels is lower than a predetermined value, the clutch engagement forces for the lock mode are limited to smaller ones than the lockable ones.