A method for setting a heavy duty vehicle in motion. The method includes obtaining a motion instruction for setting the vehicle in motion, determining a target wheel slip value corresponding to a wheel slip suitable for executing to the motion instruction, and controlling wheel speed to maintain wheel slip of the vehicle at the target wheel slip value.

A method is provided for operating a motor vehicle including a first driven axle, with which a first electric drive unit and a first brake mechanism are associated, and a second driven axle, with which a second electric drive unit and a second brake mechanism are associated, in a hill hold operating mode, in which the brake mechanisms are configured to brake the two axles with a predetermined brake torque distribution. According to the method, a hill hold requirement for the motor vehicle is identified and a compensation torque distribution to the two axles, provided in relation to the hill hold requirement, in accordance with the predetermined brake torque distribution is determined. The compensation torque is applied in accordance with the compensation torque distribution, and the compensation torque applied by the respectively associated drive unit is replaced with compensation torque applied by the brake mechanism of the respective axle.

A driving assistance system for a work vehicle may comprise a service brake configured to decelerate the work vehicle upon actuation of the service brake, a parking brake and a transmission including a clutch. A controller may be configured to disengage the clutch when the work vehicle speed is less than a speed threshold and when the service brake is actuated, whereby the work vehicle is brought to a stop.

A method of operating a brake system for a motor vehicle, the brake system has a parking brake device and actuating the parking brake device for generating a parking braking force on a wheel of the motor vehicle is only permitted if a speed value falls below a speed threshold value. As such, the speed value is determined from a measured speed value corresponding at least temporarily to a speed of the motor vehicle. If the measured speed value falls below the speed value, the speed value is made to track the measured speed value with a speed gradient limited to a speed gradient limit value.

Systems, methods, and apparatuses are provided for controlling a braking torque of a vehicle while travelling in an at least semiautomated manner. Standstill data is received, while the vehicle is traveling in the at least semiautomated manner on an incline and/or a decline, when a temporary standstill of the vehicle is requested by the assistance system. Speed values are continuously received that describe a speed of the vehicle while the vehicle is decelerating prior to the temporary standstill. Slope data is continuously determined that describes an angle of the incline or decline. An amended speed value is continuously computed that depends on the speed value and the slope data. An electronic control signal is output to control the braking torque to bring the vehicle to the temporary standstill when the amended speed value decreases below a predetermined threshold value and the standstill data are received.

A control unit (130, 140) for controlling a heavy duty vehicle (100), wherein the control unit is arranged to obtain input data indicative of a desired wheel force (Fx, Fy) to be generated by at least one wheel (210) of the vehicle (100), and to translate the input data into a respective equivalent wheel speed or wheel slip to be maintained by the wheel (210) to generate the desired wheel force (Fx, Fy) based on an inverse tyre model (f.sup.1) for the wheel (210), wherein the control unit (130, 140) is arranged to obtain the inverse tyre model in dependence of a current operating condition of the wheel (210), and wherein the control unit (130, 140) is arranged to control the heavy duty vehicle (100) based on the equivalent wheel speed or wheel slip.

This disclosure relates to equipment of a partly autonomously or autonomously operated motor vehicle. The equipment includes an electrically actuating service brake device which carries out at least one service brake function, an electrically actuating parking brake device which has at least one applied state and a released state, a drive device which has at least one active state for driving the motor vehicle and an inactive state, a starter device which produces a starting signal which transfers the drive device from the inactive state into the active state, and an electrical energy source. This disclosure also relates to an electronic control device which is in signal connection with the parking brake device and the starter device.

A control method and a brake system are provided. The method includes: when a vehicle moves downhill from a stationary state, obtaining a stroke of a brake pedal in the vehicle, and when the stroke of the brake pedal is greater than a first threshold, controlling the vehicle to brake with a first braking force, for a vehicle speed of the vehicle to be within a target vehicle speed range. In this way, when the vehicle starts to go downhill from the stationary state, a driver may control the vehicle speed of the vehicle by depressing the brake pedal, to effectively avoid a forward surge of the vehicle, and implement stable starting of the vehicle, so as to effectively improve safety of the vehicle.