CPC B60W 50/0205 (2013.01) [B60W 40/076 (2013.01); B60W 40/107 (2013.01); B60W 2520/105 (2013.01); B60W 2520/26 (2013.01); B60W 2552/15 (2020.02); B60W 2552/35 (2020.02)] | 20 Claims |
1. A vehicle comprising a controller including a memory storing instructions and a processor configured to execute the instructions stored in the memory, wherein, based on that the instructions are executed by the processor, the processor is configured to:
collect vehicle driving information from one or more sensors;
obtain an acceleration error, an acceleration disturbance rate, and an acceleration disturbance of the vehicle based on the vehicle driving information;
determine a driving state of the vehicle at least partially based on the acceleration error, the acceleration disturbance rate, and the acceleration disturbance; and
controlling wheel slip of the vehicle based on the driving state.
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