Abstract: A method of controlling a torque vectoring mechanism and an associated torque vectoring system are disclosed. The method can distribute torque between a left non-driven wheel and a right non-driven wheel of a vehicle based on a torque control value. The torque control value can be based on a change in yaw moment about a center of gravity of the vehicle. The change in yaw moment can be determined based on a reduction of lateral force on a driven axle due to both longitudinal and lateral slip on the driven wheels.

Abstract: A vehicle motion control device adjusts vibrations occurring in components of a vehicle so as to control the motion of a vehicle having independent drive assemblies for front wheels and for rear wheels. The vehicle motion control device includes a base request torque calculation unit that calculates first and second base request torques in response to a request made by the driver of a vehicle. A correction torque calculation unit calculates first and second correction torques used to adjust vibrations in a low-frequency band and in a high-frequency band of the vibrations of the components of the vehicle. An internal combustion engine control unit and a motor generator control unit control an internal combustion engine and a motor generator so that the first and second base request torques are corrected with the first and second correction torques.

Abstract: [Problem] A two-wheel?four-wheel drive switching for a traction-transmitting part time four-wheel drive vehicle in which a gear clutch for separating one of auxiliary driving wheels from a drive train is equipped can be carried out under a shock reduction. [Means for solving problem] In a case where a two-wheel?four-wheel drive switching request occurs during a traveling of the vehicle (step S11 and step S12), an operation of switching a traction-transmitting transfer from a non-transmitting state to a transmitting state is preceded (step S18 and step S22) and, thereafter, the gear clutch is engaged (step S21 and step S22) when a revolution speed difference ?Vw between main and auxiliary driving wheels is 0<?Vw<? along with an advance of the state switching of the transfer so that large shock and abnormal sound are not generated even if the gear clutch is switched from a released state to an engagement state.

Abstract: A motor vehicle with four drive wheels mounted on first and second axles, including: a transfer shaft connected to the first axle and a controlled coupling that can transfer part of the torque from the transfer shaft to the second axle; a mechanism determining respective speeds of the first and second axles, and a torque distribution control system configured to determine a slip value representative of the speed difference between the first and second axles and to control the coupling. The torque distribution control system is further configured to control the coupling such as to suppress any torque transfer via the coupling when the average slip value over a pre-determined period exceeds a threshold.

Abstract: A vehicle behavior control device (S) determines, by using a vehicle velocity (V), a transmission function (K(s)) which is determined based on a specification of the vehicle, receives as an input a wheel turning speed (?) obtained by differentiating a wheel turning angle (?) of left and right front wheels (FW1, FW2) with respect to time, and outputs a target yaw moment (My). The device (S) also calculates, by using the determined target yaw moment (My), a left-wheel-side forward/backward force (FxCL) imparted to a left wheel side (left front wheel FW1 and left rear wheel RW1) of a vehicle (10) and a right-wheel-side forward/backward force (FxCR) imparted to a right wheel side (right front wheel FW2 and right rear wheel RW2) of the vehicle (10).

Abstract: A method of determining a sound nuisance level outside an aircraft, wherein an aircraft is fitted with a plurality of external microphones, then during a flight of the aircraft, sound levels are measured using on-board microphones and at least two components are measured of the speed of the aircraft relative to air, and thereafter the kurtosis of samples of the sound level measurements is calculated and a model is determined of variations in a sound nuisance level as function of the air speed components, with the sound nuisance level being determined as a function of the kurtosis.

Abstract: A driving force distribution control device for a four wheel drive vehicle having a mechanism that distributes the torque of an engine, which is transmitted to a main drive wheel, to a secondary drive wheel determines a first torque to be distributed to the secondary drive wheel on the basis of the engine torque, and corrects the determined first torque on the basis of a yaw rate deviation between a target yaw rate and an actual yaw rate of the vehicle. When an absolute value of the yaw rate deviation is equal to or greater than a predetermined value, the mechanism is controlled on the basis of the corrected torque.

Abstract: A brake control device that controls braking forces applied to wheels to stabilize the behavior of a vehicle turning a corner, and includes a turning condition detection unit detecting a turning condition of the vehicle; a braking amount setting unit setting braking amounts for the respective wheels based on the turning condition detected by the turning condition detection unit; a brake control unit applying braking forces to the wheels according to the braking amounts set by the braking amount setting unit; and a road surface friction coefficient estimation unit estimating a road surface friction coefficient of the road on which the vehicle is running. The braking amount setting unit changes upper limits of the braking amounts for the respective wheels according to the road surface friction coefficient when the vehicle is in a center differential lock mode or a direct four-wheel drive mode.

Abstract: A system for controlling a power propulsion unit of a hybrid type for a four-wheel-drive automotive vehicle that includes at least one electric motor part and at least one thermal engine part capable of driving the independent front and rear driving axles of the vehicle. The system includes a mechanism determining total torque set point from a request of the driver, a mechanism distributing the total torque set point, and a system optimizing the duty point, to dynamically determine the torques to be applied to each of the two driving axles and to optimize fuel consumption of the power propulsion group according to the drivability requested by the driver and driving conditions.

Abstract: A control device for controlling a front wheel drive force and a rear wheel drive force of a vehicle includes a first controller for controlling a drive force of main drive wheels and a drive force of auxiliary drive wheels, wherein the drive force of the main drive wheel is one of the front-wheel drive force and the rear-wheel drive force, and the drive force of the auxiliary drive wheel is another of the front-wheel drive force and the rear-wheel drive force, and a second controller for sending to the first controller an auxiliary-drive-wheels-limiting drive force for limiting the drive force of the auxiliary drive wheels. The second controller has a preparatory unit for preparing reference drive force, a first limiting unit for limiting a reduction in the auxiliary-drive-wheels-limiting drive force, and a second limiting unit for limiting an increase in the auxiliary-drive-wheels-limiting drive force.

Abstract: A vehicle motion control device and method computes a size of a using friction circle in each of wheels by multiplying a size of an each wheel friction circle indicating a maximum generating force in each of the wheel tires by a previously computed each wheel using percentage, computes the each wheel tire generating force and the each wheel using percentage indicating a rate with respect to an upper limit value of a ?-using efficiency in each of the wheels, and controls a vehicle motion in such a manner that the computed each wheel tire generating force is obtained on the basis of the computed each wheel tire generating force, thereby minimizing an upper limit of the ?-using efficiency in each of the wheels.

Abstract: There is provided a vehicle drive control system that feels less unnatural and that enables an improvement in safety performance. A vehicle motion control system capable of independently controlling a driving force and a braking force of four wheels comprises: a first mode (G-Vectoring control) in which substantially the same driving force and braking force are generated with respect to left and right wheels among the four wheels based on a longitudinal acceleration/deceleration control command that is coordinated with the vehicle's lateral motion; and a second mode (sideslip prevention control) in which different driving forces and braking forces are generated with respect to the left and right wheels among the four wheels based on a target yaw moment derived from the vehicle's sideslip information, wherein the first mode is selected when the target yaw moment is equal to or less than a pre-defined threshold, and the second mode is selected when the target yaw moment is greater than the threshold (FIG. 11).

Abstract: The invention relates to a method and a device for monitoring the operating conditions of motor vehicles, with a drive system with at least one differential that distributes drive torque to the driven wheels. To avoid unacceptable wear in the differential of the drive system, it is proposed that at least the output speeds of the differential, and, via a steering angle sensor, an at least approximate driving of the motor vehicle in a straight line are detected and are compared over a time interval, and that in the case where the differential speed of the output shafts is above a defined speed threshold and prevails over the time interval and the vehicle is driven in a straight line, a warning signal is generated.

Abstract: A method of controlling an accelerator of a four-wheel drive electric vehicle comprises the steps of controlling power output of the vehicle by a sum of an output torque of a main drive motor and an output torque an auxiliary drive motor with the output torque of the main drive motor being determined by a position of the accelerator pedal. The output torque T0 of the auxiliary drive motor is determined by: obtaining a torque calculation factor GainAccSum that a cumulative value of the acceleration GainAcc of the accelerator pedal; determining a maximum output torque T of the auxiliary drive motor at a current speed of the vehicle; and calculating the output torque T0 of the auxiliary drive motor varying between 0 and T based on the torque calculation factor GainAccSum and the maximum output torque T of the auxiliary drive motor at the current speed of the vehicle.

Abstract: Methods and systems are described to automatically lock and unlock a front axle disconnect mechanism in an all-wheel drive (AWD) system responsive to driving conditions to reduce parasitic losses and increase fuel efficiency. A control algorithm is described which automatically determines whether the front axle disconnect mechanism should lock or unlock responsive to various sensor readings throughout the vehicle. The sensor readings relate to the driving conditions. Advantageously, the present disclosure automatically decides the best mode for optimum fuel economy while safely responding to driving conditions, and therefore removes the requirement for a driver to select the operating mode.

Abstract: In the case of a control system for an at least temporarily four-wheel-driven motor vehicle having an electronic control unit, which determines at least the rotational speeds of all wheels and the vehicle speed, and by which the driving torque of a drive unit can be distributed in a variable manner by way of a controllable transfer clutch to primary driving wheels, which are permanently connected with the drive unit, and to secondary driving wheels which, can be connected with the drive unit as required, the control unit closes the transfer clutch when the slip of a rear wheel exceeds the slip of the front wheel of the same vehicle side by a value which is greater than a given first threshold and when, preferably, also the longitudinal deceleration of the vehicle exceeds a given second threshold or the lateral acceleration of the vehicle exceeds a given third threshold.

Abstract: A main controller calculates permissible driving forces of individual wheels from a road-surface friction coefficient, ground loads of the individual wheels, and lateral forces of the individual wheels. The main controller then calculates a permissible engine torque on the basis of the calculated permissible driving forces so as to limit engine output. In addition, based on the calculated permissible driving forces, the main controller calculates a transfer-clutch torque for front-rear driving-force distribution control, a rear-wheel torque shift amount for left-right driving-force distribution control, and a steering-angle correction amount for steering-angle control.

Abstract: A vehicle stability system for a vehicle. In an embodiment the vehicle stability system includes a yaw rate sensor, an acceleration sensor, a steering sensor, a torque request sensor, and a controller. The controller is configured to receive an output of the yaw rate sensor, the lateral acceleration sensor, the steering sensor, and the torque request sensor, generate a torque signal and a braking signal, and transmit the torque signal to a differential in addition to transmitting the braking signal to a braking system.

Abstract: A torque distribution system for a vehicle permits the transfer of torque between vehicle wheels using a selectively engagable clutch that is hydraulically engaged using hydraulic pressure provided by a hydraulic transmission pump driven by the engine, allowing for enhanced system functionality and reduced part content in comparison with known torque distribution systems. The system may include an “active-on-demand” clutch that is selectively engagable to transfer torque between a front differential and a rear differential (thereby transferring torque from the front wheels to the rear wheels) as well as an electronically-limited slip differential clutch selectively engagable to transfer torque from one front wheel to the other front wheel through the front differential. Utilization of the transmission hydraulic pump allows pressure to be provided to engage the clutch even when the wheels are stationary, i.e., to launch the vehicle.

Abstract: A torque distribution control apparatus for a four-wheel drive vehicle includes a vehicle-speed detector configured to detect a vehicle speed of the vehicle. A wheel-speed detector is configured to detect wheel speeds of main driving wheels and sub-driving wheels of the vehicle. A sub-driving-wheel distribution-torque calculator is configured to calculate a sub-driving-wheel distribution torque in accordance with a rotation speed difference between the main driving wheels and the sub-driving wheels calculated based on an output from the wheel-speed detector. A torque limiter is configured to limit an upper limit of the sub-driving-wheel distribution torque. A controller is configured to control the sub-driving-wheel distribution torque to be transmitted to the right and left sub-driving wheels by right and left torque distribution clutches in accordance with a driving state of the vehicle.

Abstract: A control system for a vehicle having first and second wheels is provided that includes a differential apparatus adapted to distribute torque between the first and second wheels and a traction controller for controlling operation of the differential apparatus from vehicle launch up to a predetermined vehicle speed. The traction controller is configured to engage the differential apparatus in a first operating state according to at least one vehicle operating parameter indicative of a low traction operating condition and to further control engagement of the differential apparatus in a second vehicle operating state during the low traction operating condition according to a difference between an actual vehicle yaw rate and a predetermined target vehicle yaw rate. The control system also includes a stability controller for controlling engagement of the differential apparatus at or above the predetermined vehicle speed.

Abstract: A front wheel is placed on a lifting table, which is rotated by an actuator together with the front wheel. By rotating the lifting table by the actuator, the front wheel is rotated under constraint of a steering mechanism of an automobile. The rotation angle of an arm with respect to a base is detected by an encoder provided at an end of an extendable rod which pivotally supports the arm in a rotatable manner. The rotation angle of the base is detected by a second encoder to determine the rotation angle ?2??1 and rotation radius Lt of the front wheel under constraint of the steering mechanism. Based on reaction force F detected by a load cell, rotation radius Lt, and rotation angle ?2??1, friction torque Tt is determined.

Abstract: A method for controlling operation of a transfer case in a motor vehicle driveline that includes by an engine controlled by a throttle having a variable position, and a transmission driveably connected to the engine for producing multiple ratios of the speed of a transmission input relative to the speed of a transmission output. The transfer case transmitting rotating power in response to an electric signal applied to a clutch. The method includes determining that the engine throttle position is less than a first reference throttle position during a period of predetermined length; determining that a speed of the vehicle speed is in a predetermined range; determining that the transmission is operating in a speed ratio greater than a reference speed ratio; determining that the engine throttle position is greater than a first reference throttle position; and increasing the torque capacity of the clutch for a predetermined period.

Abstract: A transfer clutch control units operates a second transfer clutch torque corresponding to a yaw moment out of the transfer clutch torque to be output to a transfer clutch drive unit by a second transfer clutch torque operational unit. The second transfer clutch torque operational unit operates a reference lateral acceleration from a lateral acceleration to be operated based on a linear vehicle motion model from a vehicle driving state and a preset coefficient according to the vehicle driving state, in addition to the yaw moment sensing the yaw rate and the yaw moment sensing the steering wheel angle, and operate the yaw moment corresponding to the deviation between the reference lateral acceleration and the actual lateral acceleration as a corrected value of the yaw moment. Not only a high ? road but also a low ? road, even abrupt change of road surfaces or the like can be consistently and optimally coped with in excellent response.

Abstract: A method for deploying torque commands from a vehicle stability assist control system to a four wheel drive system in a vehicle that includes utilizing a firewall within a four wheel drive system electronic control unit to analyze commands sent from a vehicle stability assist electronic control unit to the four wheel drive electronic control unit. Additionally, the commands from the vehicle stability assist electronic control unit, when the vehicle control system is in operation, are integrated with commands independently generated by the four wheel drive electronic control unit, and resultant wheel torque commands are generated to be provided to each individual wheel in the four wheel drive system.

Abstract: A method for automatically actuating longitudinal blocks in four-wheel vehicles, particularly in working machines and service vehicles. The longitudinal blocks are always open when driving situations occur in which the blocking effect is absolutely unnecessary. The longitudinal blocks are closed in all other situations.

Abstract: A vehicle includes a sensor sensing external temperature, a 2WD/4WD switch operated to input an instruction to switch a two-wheel drive state and a four-wheel drive state, a transfer switching mechanical power transfer for the two-wheel drive state and that for the four-wheel drive state, an actuator actuating the transfer, and an ECU controlling the actuator. The ECU determines from a value detected by the sensor a current supplied to the actuator. Preferably, the transfer includes a synchronizer mechanism driven by power generated by the actuator to transfer a drive shaft's rotation to a driven shaft and engage the shafts together when they achieve synchronous rotation.

Abstract: A method of operating a vehicle having at least a driven wheel, the driven wheel driven at least by a driving torque, includes maintaining an inclination angle of the vehicle in memory during a vehicle off condition; after starting the vehicle from the vehicle off condition, first updating a vehicle mass based on operating conditions including vehicle traveling conditions; and after updating the vehicle mass, updating the inclination angle based on operating parameters including vehicle traveling conditions.

Abstract: Each of guided vehicles has an operating condition memory unit for storing the total travel distance, the travel time, the number of travels, the number of errors at a stop position, and the number of article transfers. These values are evaluated by an evaluation unit 53, and the machine difference is measured again for each of the guided vehicles.

Abstract: A vehicle includes a wheel speed sensor sensing a vehicle speed V, a 2WD/4WD switch operative to input an instruction to switch between a two-wheel driving state and a four-wheel driving state, a transfer and an actuator switching the two-wheel driving state and the four-wheel driving state, and an ECU driving the actuator. The ECU instructs the actuator to switch from the four-wheel driving state to the two-wheel driving state regardless of the switching instruction from the 2WD/4WD switch if the vehicle tows a trailer and runs in the four-wheel driving state when the vehicle speed exceeds a predetermined value. Consequently, it is possible to provide a four-wheel drive vehicle capable of running while towing an object and also avoiding an increase in the size of the peripheral parts of driving wheels.

Abstract: A global positioning system (GPS) based navigation and steering control system for ground vehicles, in particular, agricultural ground vehicles such as tractors, combines, sprayers, seeders, or the like, calculates instantaneous placement corrections to achieve desired towed implement placement on curved paths, and a method for same.

Abstract: A power distribution control device 42 calculates a low-? information magnitude, associated with the friction coefficient of the road surface, based on the slip rate and the vehicle acceleration operation magnitude. If the low-? information magnitude exceeds an addition evaluation threshold, the power distribution control device 42 adds the low-? information magnitude. If the low-? information magnitude does not exceed the addition evaluation threshold, the power distribution control device 42 subtracts a constant K from a counter. The power distribution control device 42 makes evaluates a road to have a low-? when the counter exceeds a low-? evaluation threshold.

Abstract: A drive force distribution system for a four wheel independent drive vehicle is configured to suppress changes in longitudinal and lateral accelerations and change in yaw moment about the center of gravity of the vehicle that occur when the brake/drive force of one wheel changes or is changed deliberately. The drive force distribution system is configured such that when the brake forces and the drive forces determined by the brake/drive force determining section based on the motion requirements of the vehicle are to be changed, the drive force revising section revises the brake/drive forces of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel by amounts, respectively, based on the sensitivities of the tire lateral forces of each of the wheels estimated by the tire lateral force sensitivity estimating section so as to satisfy the motion requirements of the vehicle.

Abstract: A vehicle driveline comprising a primary drive system including at least one primary drive wheel and an auxiliary drive system including at least one auxiliary drive wheel is disclosed. The vehicle driveline may further comprise a system for idling the auxiliary drive system. The system may include at least one wheel disconnect device for selectively connecting and disconnecting the auxiliary drive wheel from the auxiliary drive system and a power transfer unit for selectively engaging and disengaging the auxiliary drive system from the primary drive system. The power transfer unit may include a multi-plate clutch in series with a dog clutch.

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 vehicle slip state determination system serves to calculate an estimated vehicle speed VB, an estimated vehicle deceleration in the vehicle speed DVB, and each of wheel speed differences between right front and rear wheels and between left front and rear wheels ?VR, ?VL, respectively. The wheel speed difference ?VR, ?VL are divided into three ranges, that is, range 1, range 2, and range 3 by the speed difference upper and lower limit values JVUP and JVLO, each of which is a linear function value with respect to the estimated vehicle deceleration DVB. In the ranges 1 and 3, the vehicle traveling on the road with the low friction coefficient ? is brought into the slip state where four wheels are slipped. If the wheel speed difference at a predetermined estimated vehicle deceleration deviates from a determination range defined by the upper and lower limit values, the slip state of the vehicle, that is, the condition where the vehicle is traveling on the road with the low friction coefficient ? is determined.

Abstract: A method for measuring and aligning front and rear wheels of a four wheel vehicle, including measuring alignment properties of the front wheels, and correcting alignment properties of the rear wheels if all of the measurements of the alignment properties of the front wheels are substantially equal to the manufacturer-specified alignment properties for the front wheels. If all of the measurements of the alignment properties of the front wheels are not substantially equal to the manufacturer-specified alignment properties for the front wheels, then the alignment properties of the front wheels are corrected prior to correcting alignment properties of the rear wheels. The measurements of the alignment properties can be made using a computer-aided, three-dimensional machine vision alignment apparatus.

Abstract: To provide a four-wheel drive system which improves running performance of an automotive vehicle by inhibiting a driving torque from becoming insufficient upon occurrence of a slip. An R slip sensing means of a DC motor torque calculating means senses a slip due to a spin of rear wheels. When the rear wheel slip is sensed, an R slip DC-motor-torque correcting means corrects a torque of the rear wheels so that a driving force of the rear wheels is reduced and then increased. The R slip DC-motor-torque correcting means reduces a driving torque of the rear wheels to eliminate the slip and holds the reduced driving torque until the slip is eliminated, and then increases the driving torque to a value lower than a value which the driving torque has taken at the time of occurrence of the slip. The driving torque is increased to a predetermined limit value depending on the number of slips.

Abstract: A drive force control method for a four-wheel drive vehicle having front wheels as main drive wheels always connected to a driving source, rear wheels as auxiliary drive wheels whose drive torque is adjustable, and a mechanism capable of adjusting a torque distribution ratio between the front wheels and the rear wheels so that the torque distribution ratio of the rear wheels to the front wheels is increased in turning and also capable of adjusting a torque distribution ratio between the right and left rear wheels in turning. The drive force control method includes the steps of detecting a vehicle speed, and gently decreasing the torque distribution ratio of a turning outer wheel to a turning inner wheel with an increase in the vehicle speed. When the transmission shift position is a low-speed position or a high-speed position or the vehicle is in reverse running, the torque distribution ratio of the turning outer wheel to the turning inner wheel is decreased.

Abstract: An apparatus for controlling driving forces supplied to left and right wheels of a vehicle, for effectively inhibiting oversteer and understeer states, includes driving force adjusting device for adjusting driving forces supplied to the left and the right rear wheels, first controlling device for controlling the driving force adjusting device such that a wheel speed difference between the left and the right rear wheels coincides with a target wheel speed difference, and second controlling device for controlling the driving force adjusting device such that a yaw momentum of the vehicle coincides with a target yaw momentum. If the vehicle is in an understeer state, the contribution of the second controlling device is increased relative to that the first controlling device and if the vehicle is in an oversteer state, the contribution of the first controlling device is increased relative to that of the second controlling device.

Abstract: A control device controls a hybrid-four-wheel-driven vehicle wherein one of the front-wheel pair and the rear-wheel pair is an engine-driven-wheel pair which is driven by an engine, and the other pair is an electric-motor-driven-wheel pair which is driven by an electric motor. In the event of slipping of the engine-driven wheels, the system increases the engine output so as to increase the driving force of the electric-motor-driven wheels for increasing the total driving force mad up of the engine-driven-wheel driving force and the electric-motor-driven-wheel driving force, thereby improving acceleration performance, unlike conventional techniques. This provides a control device for suppressing deterioration in acceleration performance of the vehicle in a case of slipping of engine-driven wheels during acceleration.

Abstract: An agricultural combine has a variable displacement pump connected to four drive motors that drive four wheels. An electronic controller monitors the speed of each wheel and reduces the torque of the motor that drives the wheel when the wheel slips. The controller reduces the torque by reducing the specific displacement of the slipping motor. Once the wheel has ceased slipping, the controller increases the specific displacement of the motor back to its original displacement.

Abstract: There is provided a driving force control apparatus for an automotive vehicle, including an internal combustion engine to rotate main drive wheels of the vehicle by engine torque, a generator driven by the engine; a motor powered by the generator to rotate subsidiary drive wheels of the vehicle by motor torque in a four-wheel drive state, a detecting section to detect a vehicle start failure under which the vehicle has failed to make a start in response to a vehicle starting operation in the four-wheel drive state, and a motor torque characteristic changing section to change a target torque characteristic of the motor to a higher level so as to increase the motor torque upon detection of the vehicle start failure.

Abstract: A method of controlling a shiftable clutch in a drive train between a front axle and a rear axle of a motor vehicle with a four-wheel drive is provided. One axle is driven directly and the other axle, as a hang-on system, is coupled by way of the clutch. In order to create a method of controlling the shiftable clutch in a drive train between the front axle and the rear axle, and a corresponding system with an improved availability of the full four-wheel drive characteristic with a corresponding protection of the driving dynamics of the overall vehicle, the clutch is continuously acted upon by torque in an adjustable manner by way of a pilot control measure.

Abstract: In a vehicle behavior control system, a target braking force applied to each wheel of the vehicle is obtained based on a master cylinder pressure so as to be proportional to a vertical load of each wheel. When it is determined that a braking force is applied to the vehicle running on a road with uneven friction coefficient, an excess yaw moment caused by the difference between the target braking force and an actual braking force is calculated. A steering angle is corrected with a correcting steering angle estimated based on the excess yaw moment. A yaw rate difference is calculated as a difference between a normal yaw rate and an actual yaw rate of the vehicle based on the steering angle that has been corrected. It is determined whether the vehicle behavior is deteriorated based on the yaw rate difference. The vehicle behavior is then controlled to reduce the yaw rate difference.

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: An agricultural combine has a variable displacement pump connected to four drive motors that drive four wheels. An electronic controller monitors the speed of each wheel and reduces the torque of the motor that drives the wheel when the wheel slips. The controller reduces the torque by reducing the specific displacement of the slipping motor. Once the wheel has ceased slipping, the controller increases the specific displacement of the motor back to its original displacement.

Abstract: A control device controls a hybrid-four-wheel-driven vehicle wherein one of the front-wheel pair and the rear-wheel pair is an engine-driven-wheel pair which is driven by an engine, and the other pair is an electric-motor-driven-wheel pair which is driven by an electric motor. In the event of slipping of the engine-driven wheels, the system increases the engine output so as to increase the driving force of the electric-motor-driven wheels for increasing the total driving force made up of the engine-driven-wheel driving force and the electric-motor-driven-wheel driving force, thereby improving acceleration performance, unlike conventional techniques. This provides a control device for suppressing deterioration in acceleration performance of the vehicle in a case of slipping of engine-driven wheels during acceleration.

Abstract: A fault detecting apparatus for a four-wheel drive vehicle is provided for avoiding without fail any erroneous detection due to a response delay associated with an operation for switching a speed increasing system and due to sudden fluctuations in wheel speed, to highly accurately detect a fault in the speed increasing system. The speed increasing system is configured to transmit a driving force of a prime mover directly to main driving wheels and to sub-driving wheels through associated clutches, and to increase rotational speed of the sub-driving wheels above rotational speed of the main driving wheels when a speed increase instruction signal is outputted. The fault detecting apparatus comprises an S-AWD•ECU for detecting a fault in the speed increasing system, and for disabling the fault detection until a predetermined time has elapsed after a speed increase instruction signal was outputted or after the output of the speed increase instruction signal was stopped.

Abstract: An antiskid control system for a four-wheel-drive vehicle is arranged to calculate a difference between an average of wheel accelerations of front wheels and an average of wheel acceleration of rear wheels. When the difference is greater than or equal to the vibration determination threshold, the antiskid control system determines that a driveline vibration is generated and executes a control for converging the driveline vibration.