A computer system has processing circuitry configured to handle a longitudinal slip of a wheel of a vehicle is provided. The processing circuitry is configured to, determine a first longitudinal slip and a first tire force of a tire of the wheel. The processing circuitry is configured to, with…

When the vehicle is traveling in a state where the difference between the tire load rates is not larger than a predetermined load rate difference, learning control is performed. Therefore, the learning control can be performed in a wider range of the driving force as compared with a case where the…

A control system for controlling axle hop in a vehicle includes a sensor and an electronic controller. The sensor is configured to detect a vibration of an axle and to detect a wheel slip of a wheel. The electronic controller is configured to determine whether one of the detected axle vibration…

An autonomous vehicle includes a system for operating the vehicle. A slip angle sensor measures a slip angle of a wheel of the autonomous vehicle. An accelerometer measures an acceleration of the autonomous vehicle. A steering actuator controls a steering angle of the autonomous vehicle. The…

A work vehicle includes an engine and a transmission assembly having a variator, a gear arrangement, and an electric machine operably connected to provide rotational power to the variator. The transmission assembly selectively transfers power from one or both of the engine and the electric machine…

A traveling control apparatus for a vehicle that travels by transmitting force of a driving motor to tires is provided, including: a relaxation length calculation unit that calculates a relaxation length of the tires in a longitudinal direction as a moving distance required until a lateral force…

A computer system has processing circuitry configured to handle traction control of a vehicle operating on a surface area is provided. The processing circuitry obtains wheel information indicative of a motion of at least one wheel of the vehicle. The processing circuitry is configured to, based on…

A vehicle speed estimating apparatus includes a vehicle information receiver configured to receive travel information of a vehicle including a wheel speed, a motor torque, and a longitudinal acceleration of the vehicle, a wheel slip determiner configured to determine whether wheel slip occurs, a…

System, methods, and other embodiments described herein relate to tire models based on neural-Exp Tanh parameterization. In one embodiment, a method includes operating a vehicle with a control framework incorporating an Exp Tanh function; calculating prior slip data based on measurements obtained…

A method for controlling propulsion of a heavy-duty vehicle, where the heavy-duty vehicle comprises a differential drive arrangement arranged in connection to a drive axle with a left wheel and a right wheel is provided. The method includes determining a nominal shaft slip corresponding to a…

A computer system comprising processing circuitry configured to handle wheel slip a vehicle is provided. The vehicle comprises a first axle. The first axle comprises at least two wheels. Each of the at least two wheels of the first axle is drivable by at least two hydraulic motors. The processing…

A vehicle having a transceiver and a processor is disclosed. The transceiver may receive environment condition, road condition, and vehicle information. The processor may be communicatively coupled with the transceiver, and may obtain the environment condition, the road condition, and the vehicle…

Methods and systems are provided for operating a vehicle in a mode to free the vehicle from being stuck in sand are presented. In one example, a speed of an electric machine is adjusted to determine when wheel jitter occurs. The electric machine speed may be maintained at a speed where wheel jitter…

Systems and methods to automatically detect and respond to driving on a deformable surface are provided. A system can determine, for a first time interval, a difference between an expected acceleration of a vehicle and an actual acceleration of the vehicle measured via one or more sensors of the…

A traction control method for a vehicle, in which a driving motor and a torque vectoring motor are controlled based on motor traction control torque, includes determining, by a disturbance observer based on a vehicle model, observer torque based on the slipping wheel actual speed and a torque…

A method for determining a slip limit value for a wheel of a vehicle. The slip limit value is used for controlling the operation of the vehicle. The method comprises setting the slip limit value to be smaller than a high slip limit value for a majority of an operating time of the vehicle. The…

A traction control method for a vehicle provided with a torque vectoring apparatus including a torque vectoring motor includes determining, by first and second controllers, whether a current situation is a split-μ situation occurring when the vehicle is driven on a split road surface, based on…

A controller is provided for a vehicle having front and rear axles, each axle having two wheels, and first and second propulsion units. The controller controls the first and second propulsion units to generate a combined torque with reference to a total requested torque. The controller is…

A method for controlling a braking system of a motor vehicle that includes a plurality of wheels, at least one electric motor as a drive, a service brake and a vehicle dynamic control system. The wheels can be braked by a deceleration torque applied by the service brake and at least partially by a…

A method for controlling motion of a heavy-duty vehicle, comprising obtaining information related to an upcoming vehicle path and vehicle maneuver along the path, obtaining information related to a road friction coefficient along the upcoming vehicle path, configuring lateral and longitudinal wheel…

A method for reducing off-tracking by a multi-trailer heavy duty vehicle during a maneuver, the method comprising obtaining a model of vehicle dynamics describing dynamics of the multi-trailer heavy duty vehicle, determining respective force trajectories for two or more axles of the vehicle as a…

Methods and systems are provided for a vehicle including a first motor coupled to a first gear train, a second motor coupled to a second gear train, and a spool lock configured to variably couple the first gear train and the second gear train, allowing a first torque output by the first motor and a…

A method of optimizing vehicle mobility performance includes receiving technical parameters for each wheel associated with wheel power of the particular wheel on a particular terrain. The method includes determining an optimal vehicle mobility performance by determining an optimal tire slippage for…

Problems of work efficiency reduction by tire slip; durability reduction by tire damage; and large tire-changing costs for users are solved by preventing repeated tire slip occurrence in situations where tire slip likely occurs such as during excavation. A working vehicle of this invention has a…

A tractive force control part of a wheel loader reduces the maximum tractive force when determination conditions are satisfied during tractive force control. The determination conditions include that the work phase is excavation, that the working implement is in the raising hydraulic stall…

A traction force control section of a wheel loader reduces maximum traction force to below the maximum traction force with traction force control in an off state when the traction force control is in an on state. The traction force control section increases the maximum traction force when…