The present disclosure relates to a method for determining a tractor longitudinal force threshold

[00001]$\left(F_{L_{\mathrm{TR}}}^{\mathrm{ret},\mathrm{threshold}}\right)$

for a tractor longitudinal retardation force

[00002]$\left(F_{L_{\mathrm{TR}}}^{\mathrm{ret}}\right)$

that can be imparted on a tractor of a vehicle combination including the tractor and a trailer for retarding the vehicle combination. The trailer has a trailer longitudinal extension in a trailer longitudinal direction (L.sub.TL), a trailer lateral extension in a trailer lateral direction (T.sub.TL) and a trailer vertical extension in a trailer vertical direction (V.sub.TL), and the tractor has a tractor longitudinal extension in a tractor longitudinal direction (L.sub.TR), a tractor lateral extension in a tractor lateral direction (T.sub.TR) and a tractor vertical extension in a tractor vertical direction (V.sub.TR ), wherein the tractor longitudinal retardation force

[00003]$\left(F_{L_{\mathrm{TR}}}^{\mathrm{ret}}\right)$

extends in a direction parallel to a tractor longitudinal direction (T.sub.TR).

Methods and devices for adapting a gain factor of an acceleration controller for a motor vehicle are provided. An acceleration controller specifies an acceleration setpoint for the motor vehicle in a time increment. The acceleration setpoint is specified as a function a speed setpoint of the motor vehicle, an actual speed of the motor vehicle, and the gain factor. The device stores the speed setpoint, the actual speed, and the acceleration setpoint specified as information for at least two time increments, select a first subset of the information, and train a model as a function of the first subset. The model predicts an actual speed in a later time increment from at least one stored actual speed and at least one stored acceleration setpoint, select a second subset of the information, and adapt the gain factor as a function of the second subset, the model and the acceleration controller.

A method detects a yaw instability in a vehicle combination. The vehicle combination has a tractor unit and at least one trailing unit. The method includes determining a current value of a longitudinal slip of at least one wheel of at least one unit of the vehicle combination, comparing the current value of the longitudinal slip to a threshold, and, if the current value is beyond the threshold, determining that an upcoming or ongoing yaw instability is present in the vehicle combination.

A vehicle control system for a vehicle having a braking system and active suspension system is provided. The vehicle control system may be configured to adjust a normal component of a wheel force at one or more wheels of the vehicle to increase an average traction force at the one or more wheels during a braking event. The vehicle control system may adjust a normal component of a wheel force at one or more wheels based on reference road information, forward-looking road information, and/or vehicle sensor data.

A vehicle control system for a vehicle having a braking system and active suspension system is provided. The vehicle control system may be configured to adjust a normal component of a wheel force at one or more wheels of the vehicle to increase an average traction force at the one or more wheels during a braking event. The vehicle control system may adjust a normal component of a wheel force at one or more wheels based on reference road information, forward-looking road information, and/or vehicle sensor data.

An image data generator is for an assistance system. The assistance assists a driver with driving a lean vehicle. The image data generator can suppress a delay in initiation of rider assistance operation in an assistance system in comparison with conventional assistance systems. The image data generator has an input section, a first data generating section, and a second data generating section. The input section receives an imaging data from an imaging device. The imaging device detects an environment around the lean vehicle. The first data generating section generates a first image data by shifting the imaging data in a vertical direction. The second data generating section generates a second image data by rotating the first image data.

A method for operating a driver assistance system of a commercial vehicle having two vehicle wheels pivotably arranged on a front axle is provided. An environment of the commercial vehicle is detected by a detection device of the driver assistance system. When there is an imminent collision with an object, which is formed separately from the commercial vehicle and located in the environment, is detected by the detection device during a stop approach, a parking maneuver, or a turning maneuvers of the commercial vehicle, one of the vehicle wheels is braked by a braking intervention effected by a braking device of the commercial vehicle so that the vehicle wheels are pivoted as a result of the braking intervention in order to prevent the collision of the commercial vehicle with the object.

A method for operating a braking system for a motor vehicle is proposed. The method includes the step of operating at least one rear wheel brake and at least one front wheel brake to perform a parking braking function when there is a requirement for parking braking. Furthermore, a braking system, a method for controlling it, a computer program, a control unit and a motor vehicle are proposed.

A control device and a method for controlling traveling speed of a vehicle for the purpose of maintaining a vehicle speed equal to or lower than a pre-set downhill speed. The method comprises simulating a vehicle speed profile for an upcoming road section if braking at a pre-identified power level would currently be requested, thereby obtaining a predicted maximum vehicle speed and a predicted time until a vehicle speed equal to or within a pre-selected interval of the pre-set downhill speed is reached. The method further comprises, if the predicted maximum vehicle speed is equal to or below the pre-set downhill speed and the predicted time is below a preselected threshold time limit, requesting braking at the pre-identified power level or at an adjusted power level.

Disclosed are a brake force distribution device for vehicle and method thereof. The brake force distribution device for vehicle includes: a turning state detection part detecting whether the vehicle is in a turning state based on the driving state of the vehicle; a vehicle speed detection part detecting whether the vehicle speed is equal to or less than a prescribed threshold; a first yaw moment calculation part calculating the first yaw moment based on the driving state of the vehicle, the vehicle speed and the first wheelbase; a second yaw moment calculation part calculating the second yaw moment based on the driving state and the vehicle speed as well as based on the second wheelbase which is the inherent value of the vehicle; and a target moment calculation part calculating a target moment based on the difference between the first yaw moment and the second yaw moment.