A deflection control apparatus is configured to perform a deflection control in which a subject vehicle is deflected by a braking force difference between left and right wheels. The vehicle control apparatus is provided with: a calculator configured, in the deflection control, (i) to calculate a target yaw rate so that the subject vehicle drives on a target track by the deflection control, and (ii) to calculate a target yaw moment by dividing the calculated target yaw rate by a coefficient based on a velocity of the subject vehicle; and a controller configured to control a braking force of each wheel so that the target yaw moment is applied to the subject vehicle.

Example methods and apparatus to perform brake sweeping procedures on vehicle brakes are described herein. An example apparatus includes a controller to determine when a vehicle has made a turn, compare an angle at which the vehicle has turned to an angle threshold, and schedule a brake sweeping procedure based on the comparison.

A vehicle combination comprising a tractor vehicle and a trailer vehicle, each vehicle including wheels on different sides of the vehicle and wheel brakes associated with the wheels. A method for controlling the vehicle combination includes determining a yaw rate difference between a yaw rate of the tractor vehicle and a yaw rate of the trailer vehicle; determining, on the basis of the yaw rate difference, that an orientation of one of the vehicles deviates from an intended travel direction of the vehicle combination; and activating a wheel brake of the vehicle on only one side of the vehicle in order to counter the orientation deviation of the vehicle relative to the intended travel direction.

A vehicle, a method, a secondary steering system unit and a secondary steering system are provided. The secondary steering system unit comprises: a fault determination arrangement arranged to determine the presence of a fault in the main steering system and a path controller arranged to generate an upcoming path for the host vehicle. The secondary steering system unit is arranged to steer the host vehicle along the path by differential braking upon determination that a fault is present in the main steering system. Furthermore, the secondary steering system is arranged to control the differential braking in dependence of both a yaw torque acting on the host vehicle as a result of the differential braking and a steering angle resulting from a generated alignment torque on a braked steerable wheel caused by the associated wheel suspension scrub radius.

A vehicle and vehicle system are provided with a controller that is configured to generate output indicative of a road gradient based on at least one of a first estimation, a second estimation and a third estimation. The road gradient is based on the first estimation when a vehicle speed is less than a speed threshold and an input indicative of a longitudinal acceleration is available. The road gradient is based on the second estimation when the vehicle speed is greater than the speed threshold and the longitudinal acceleration is available. The road gradient is based on the third estimation when the longitudinal acceleration is not available.

A vehicle and vehicle system are provided with a controller that is configured to generate output indicative of a road gradient based on at least one of a first estimation, a second estimation and a third estimation. The road gradient is based on the first estimation when a vehicle speed is less than a speed threshold and an input indicative of a longitudinal acceleration is available. The road gradient is based on the second estimation when the vehicle speed is greater than the speed threshold and the longitudinal acceleration is available. The road gradient is based on the third estimation when the longitudinal acceleration is not available.

A system and a method for preventing a vehicle from rolling away are described. According to one method aspect, in the case of a vehicle equipped with several EPB actuators, the activation of only one of these EPB actuators takes place if in the case of a road inclination lying below a threshold value the vehicle begins to roll away from the stationary state.

A method for operating a motor vehicle, which is equipped with a plurality of wheels and with a plurality of electric machines. Each electric machine can be coupled to at least one wheel and be operated in a plurality of operating modes. The respective electric machines perform rotations in a first engine operating mode in a first direction of rotations. Electric energy is converted to mechanical energy. The at least one wheel is rotated in a forward direction, whereby the vehicle is driven with the at least one wheel. The respective electric machines perform rotations in a second generator operating mode in a second direction of rotations, which is opposite to the first direction of rotations, whereby electric energy is converted to mechanical energy.

A braking control device is provided to automatically control a main braking device normally used to brake a host vehicle during travel and a second braking device used to maintain the host vehicle in a stopped state. The braking control device has a slip degree prediction unit and a braking device switching unit. The slip degree prediction unit predicts a possibility that the host vehicle will slip. The braking device switching unit is configured to delay a timing with which to start a reduction in a braking force of the main braking device if the slip degree prediction unit predicts a slip when switching the main braking device to the second braking device.

A system and a method for controlling a front axle speed of a work vehicle includes a sensor configured to determine an amount a steering wheel is being turned. The system includes a pair of pressure sensors configured to measure an amount of pressure applied to a corresponding brake of a pair of unlinked brakes. The system includes a control system configured to receive both a first input signal indicative of the amount the steering wheel is being turned and a second input signal indicative of the amount of pressure applied to the respective brake and to provide a control signal to independently control a speed of a front axle from a rear axle when conducting a turn under power based on the amount of pressure applied to the respective brake when the amount the steering wheel is being turned at least meets a predetermined turning threshold.