A braking system and method utilizing a simplified estimate of a distance between two locations on the earth based on spherical geometry. A braking system utilizing the aforementioned simplified estimate does not require computationally intensive calculations and is more efficient and better equipped to handle real-time generation of distance estimates for braking needs and variable conditions. In the present invention, geodesics evaluations are not used; rather, a modified Haversine formula that simplifies computations is used, including a one-time computation of the cosine of latitude coordinate.

A braking system and method utilizing a simplified estimate of a distance between two locations on the earth based on spherical geometry. A braking system utilizing the aforementioned simplified estimate does not require computationally intensive calculations and is more efficient and better equipped to handle real-time generation of distance estimates for braking needs and variable conditions. In the present invention, geodesics evaluations are not used; rather, a modified Haversine formula that simplifies computations is used, including a one-time computation of the cosine of latitude coordinate.

A method for electronically controlling a brake unit having two brake systems in an automatically controllable vehicle combination includes inputting a request signal for automatic electronic activation of service brakes in a tractor vehicle brake system of a tractor vehicle and/or a trailer brake system of a trailer of the vehicle combination, wherein an automatically requested vehicle setpoint acceleration and/or an automatically requested vehicle setpoint velocity to be implemented by the respective service brakes are transmitted via the request signal. The method further includes monitoring and checking plausibility of the request signal to establish whether the automatically requested vehicle setpoint acceleration and/or the automatically requested vehicle setpoint velocity are or can be implemented completely or faultlessly by the respective service brakes. The method additionally includes outputting a trailer redundancy control signal at the trailer brake system under certain conditions.

A controller and a control method of a motorcycle brake system including a brake operator, a wheel braking assembly, and a controller. The controller is configured to perform a lean angle obtainment step during turning, and perform a positive gradient setting step. The positive gradient corresponds to the lean angle obtained. The controller is also configured to initiate a braking force suppression operation in states where the motorcycle makes a turn and increases input to the brake operator. This operation is executed to increase braking force generated by the wheel braking assembly in a smaller positive gradient of hydraulic pressure in a wheel cylinder than a positive gradient of hydraulic pressure in a master cylinder when the braking force on the wheel depends only on the input to the brake operator. The braking force suppression operation is initiated in the positive gradient when an initiation reference is satisfied.

A control device for a first motorized pressure build-up device of a braking system of a vehicle. The control device is designed to output at least one first piece of information to an activation device of a second motorized pressure build-up device of the braking system by, under consideration of the respective first piece of information, a first motor activatable in such a way that a pressure prevailing in at least one partial volume of the braking system is varied in accordance with a pressure change signal, which is interpretable as the respective first piece of information for the activation device using a second pressure sensor unit of the second motorized pressure build-up device.

An object recognition device is configured to: classify, under a state in which not all object data in a detection data group have been received and a part of the object data have been received by a current processing time, the part of the object data into pieces regarded as ready for association determination and pieces not regarded as ready for the association determination, to thereby associate the object data regarded as ready for the association determination and the prediction data individually with each other and set, as pending object data, the object data not regarded as ready for the association determination; and associate, under a state in which the remaining object data in the detection data group have been received by the next processing time after the current processing time, the remaining object data and the pending object data individually with the prediction data.

A vehicular control apparatus includes: a drive power control unit that controls drive power from a drive unit that drives drive wheels of a vehicle; a brake switch (a brake action detection unit) that detects a brake action performed on a brake unit, the brake action including decelerating and stopping the vehicle; a wheelspin detection unit that detects spinning of the drive wheels; a time measurement unit that, when the drive wheels being stopped start to rotate, measures time elapsed since the start of the rotation; and a control unit that enables the wheelspin detection unit to perform detection after a preset detection disabled period elapses since the time measurement unit has started measuring the time.

A method of controlling the fluid pressure at wheel brakes of a brake system, the method comprising: (a) providing a brake system capable of delivering fluid pressure to the wheel brakes during an autonomous braking event, and wherein the brake system includes a brake pedal and sensor for sensing a driver's braking intent when applying force to the brake pedal; (b) controlling the fluid pressure at the wheel brakes at a predetermined pressure during an autonomous braking event, wherein the sensor detects no depression of the brake pedal; (c) cancelling the autonomous braking event when the sensor detects depression of the brake pedal; and (d) subsequently to step (c), the brake system enters into a handoff procedure to maintain the predetermined pressure at the wheel brakes after the sensor senses the brake pedal being depressed when a requested pressure by the driver is less than the predetermined pressure.

A method for braking a vehicle may include performing a first anti-locking brake system operation when a bump parameter of the vehicle exceeds a predetermined bump parameter threshold. A first braking force may be applied to each wheel, the first braking force being controlled such that a slip rate of each wheel lies within a predetermined first range. The method may include performing a second anti-locking brake system operation when the bump parameter is below the predetermined bump parameter threshold and when a slip rate of one or more of the wheels exceeds a predetermined slip rate threshold, including applying a second braking force to each wheel, wherein the second braking force is controlled such that the slip rate of each wheel is set so that the yaw rate of the vehicle lies within a predetermined yaw rate range.

Vehicles and methods of operating vehicles are disclosed herein. A vehicle includes a main frame, a work implement, and a control system. The work implement is supported by the main frame and configured to carry a payload in use of the vehicle. The control system is supported by the main frame and configured to control operation of the vehicle. The control system includes a payload measurement system configured to provide payload input indicative of a variable payload carried by the work implement in use of the vehicle and a controller coupled to the payload measurement system.