A method and system for estimating the potential friction between a tire and a rolling surface in which: a first and second engaged-friction/kinematic-quantity reference curve respectively corresponding to a first and to a second reference value μρ.sub.1, μ.sub.P2 of potential friction with μ.sub.P2>μ.sub.P1 are provided; a first and a second kinematic quantity threshold value or a first and a second engaged friction threshold value are provided; the engaged friction μ between the tire and the rolling surface is determined; a current value of a kinematic quantity between the tire and the rolling surface is determined; a current working point given by the engaged friction μ and the current value of the kinematic quantity is determined; and the current value of the kinematic quantity is compared with the first and the second kinematic quantity threshold value or, respectively, the engaged friction μ is compared with the first and the second engaged friction threshold value.

A brake system includes a brake activator which reduces, when a slipping condition of a right front wheel is detected based on a signal which is detected by a right detector, both braking forces on the right front wheel and a left front wheel to a lower level than a level of a braking force which is obtained as a result of operation of an input member and which reduces, when a slipping condition of the left front wheel is detected based on a signal which is detected by a left detector, both braking forces on the left front wheel and the right front wheel to a lower level than a level of a braking force which is obtained as a result of operation of the input member.

An example trailer road grade estimating method includes calculating a road grade beneath a trailer vehicle based on a difference between a first estimated mass and a second estimated mass.

In a vehicle braking assistance apparatus, a detection unit detects a target object in a traveling lane of an own vehicle. A braking assistance level determination unit, which determines a braking assistance level of the own vehicle by a braking device, determines, upon detecting a cut-in vehicle that has changed a travelling course to the travelling lane of the own vehicle using a detection signal from the detection unit, whether the cut-in vehicle is accelerable. The braking assistance level determination unit sets the braking assistance level of the braking to a high value that is higher than a standard value upon determining that the cut-in vehicle is not accelerable.

In a vehicle braking assistance apparatus, a detection unit detects a target object in a traveling lane of an own vehicle. A braking assistance level determination unit, which determines a braking assistance level of the own vehicle by a braking device, determines, upon detecting a cut-in vehicle that has changed a travelling course to the travelling lane of the own vehicle using a detection signal from the detection unit, whether the cut-in vehicle is accelerable. The braking assistance level determination unit sets the braking assistance level of the braking to a high value that is higher than a standard value upon determining that the cut-in vehicle is not accelerable.

A trailer backup assist system for a vehicle reversing a trailer includes a brake system and a throttle sensor module outputting a throttle application signal. The system further includes a control module estimating a road grade beneath the trailer and outputting a brake torque request to the brake system based on the estimated road grade and the throttle application signal.

A vehicle control system includes an acquirer that acquires environmental information including information of a reference speed preset on a scheduled route on which an own-vehicle travels and a travel controller that performs speed control and steering control of the own-vehicle on the basis of the environmental information acquired by the acquirer. The travel controller performs the speed control with the reference speed as a target speed of the own-vehicle if a control index value regarding the steering control is equal to or less than an upper limit value when the own-vehicle travels on the scheduled route at the reference speed and performs the speed control with a speed at which the control index value regarding the steering control is equal to or less than the upper limit value as the target speed of the own-vehicle if the control index value exceeds the upper limit value.

A vehicle control system includes an acquirer that acquires environmental information including information of a reference speed preset on a scheduled route on which an own-vehicle travels and a travel controller that performs speed control and steering control of the own-vehicle on the basis of the environmental information acquired by the acquirer. The travel controller performs the speed control with the reference speed as a target speed of the own-vehicle if a control index value regarding the steering control is equal to or less than an upper limit value when the own-vehicle travels on the scheduled route at the reference speed and performs the speed control with a speed at which the control index value regarding the steering control is equal to or less than the upper limit value as the target speed of the own-vehicle if the control index value exceeds the upper limit value.

A method pertaining to braking of a vehicle combination (100) which combination comprises a tractor vehicle (110) with a towed vehicle (112), where both are configured to be braked. The tractor vehicle (110) is provided with a first control unit (200) having a function for regulation of coupling force between the tractor vehicle (110) and the towed vehicle (112). Regulation of coupling force includes adaptation data and the towed vehicle bears an ID specification. The method includes the steps of: transferring the ID specification from the towed vehicle (112) to the tractor vehicle (110); during a braking process, registering adaptation data associated with the braking process together with the ID specification. Also a computer program product includes program code (P) for a computer (200; 205) for implementing the method. Also a system pertaining to braking of a vehicle combination (100) and to a vehicle combination (100) is equipped with the system.

An electric brake device has at least three control units: a first diagonal wheel control unit that controls a front-left wheel brake mechanism and a rear-right wheel brake mechanism which are positioned diagonally; a second diagonal wheel control unit that controls a front-right wheel brake mechanism and a rear-left wheel brake mechanism which are positioned diagonally; and a front wheel control unit that controls a front-left wheel brake mechanism and a front-right wheel brake mechanism. Each of the brake mechanisms has a friction-receiving member that rotates together with the wheel; and a friction-applying member that moves while being powered by an electric actuator, and obtains the braking force by pressing the friction-applying member against the friction-receiving member.