In a vehicle, GV control and M+ control are executed by generating braking/driving forces from a brake hydraulic pressure control device and a drive device during steering. A controller estimates (calculates), by a posture estimation unit, a pitch amount and a roll amount (predicted pitch rate and predicted roll rate) that occur in the vehicle through use of a moment command of the M+ control and a longitudinal G command of the GV control. The controller adjusts damping forces of damping force variable dampers through use of the estimated pitch amount and the estimated roll amount (predicted pitch rate and predicted roll rate) so that a pitch amount calculated by a pitch control unit and a roll amount calculated by a roll suppression unit approach respective target values.

A saddle-ride type vehicle control apparatus includes: an acquiring unit that acquires information indicating a posture of an occupant of a saddle-ride type vehicle; a determining unit that determines a level of intervention in driving of the saddle-ride type vehicle based on the posture of the occupant indicated by the information acquired by the acquiring unit; and an intervening unit that intervenes in the driving of the saddle-ride type vehicle based on a condition of the saddle-ride type vehicle and the level of intervention determined by the determining unit.

A method/control unit for recognizing critical driving situations of a two-wheeled motor vehicle (MV), including: ascertaining an instantaneous slip angle (ISA) and differential slip angle (DSA) of the front/rear wheels; ascertaining an instantaneous roll angle (IRA); comparing the ascertained SAs and DSAs to predetermined values (PV) of maximum allowable slip angles (MASA) or DSAs; comparing the IRA to PVs of a maximum allowable roll angle (MARA); and generating a criticality signal when one of the ISAs is greater than the PV of the MASA, at least one of the instantaneous DSAs is greater than the PV of the maximum allowable DSA, and the IRA is greater than the PV of the MARA. Critical driving situations are recognized with the method, and measures for stabilizing the two-wheeled MV or other safety-enhancing measures may be performed. Special driving situations (driving over low- patches or braking while negotiating a curve) may be considered.

A brake fluid pressure control apparatus for a vehicle includes a parameter calculation unit configured to calculate a rollover detection parameter; and a steering maneuver determination unit configured to determine whether an abrupt steering maneuver is made. The parameter calculation unit is configured to calculate a first composition roll angle as the rollover detection parameter, by combining at a predetermined weight assignment ratio a first roll angle equivalent to an actual roll angle with a second roll angle obtained using a parameter which changes with a phase earlier than the first roll angle, and to calculate the first composition roll angle by changing the weight assignment ratio such that a weight of the second roll angle is higher when the steering maneuver determination unit determines that an abrupt steering maneuver is made than when the steering maneuver determination unit determines that the abrupt steering maneuver is not made.

A method for determining the lean angle of a two-wheeler in which the axle load on at least one wheel is ascertained and the lean angle is calculated as a function of the axle load.

Disclosed is a method for detecting an inclination, relative to the ground, of a wheel of a motor vehicle which includes: measuring two accelerations by using two accelerometers mounted on the wheel and suitable for measuring the acceleration of the wheel along a first axis and along a second axis, respectively, the first axis and the second axis being in the plane of the wheel and orthogonal, and calculating the components of a gravity vector in a reference frame formed by the first axis and the second axis from the measurements of acceleration, determining a modulus of the gravity vector from the calculated components, and determining a position of inclination of the wheel relative to the ground by comparing the value of the modulus of the gravity vector with a predetermined value.

A method is disclosed for controlling brake forces of a working machine, the working machine including a frame and two front wheels and two rear wheels mounted to the frame, the working machine further including a front wheel brake arranged to brake at least one of the front wheels, and a rear wheel brake arranged to brake at least one of the rear wheels, the front wheel brake being controllable independently of the rear wheel brake, and vice versa, the working machine further including an implement connected to the frame so as to be movable in relation to the frame. The method includes determining a position of the implement in relation to the frame, and distributing the brake forces between the front and rear wheel brakes at least partly based on the determined implement position.

A brake fluid pressure control apparatus for a vehicle includes a parameter calculation unit configured to calculate a rollover detection parameter; and a steering maneuver determination unit configured to determine whether an abrupt steering maneuver is made. The parameter calculation unit is configured to calculate a first composition roll angle as the rollover detection parameter, by combining at a predetermined weight assignment ratio a first roll angle equivalent to an actual roll angle with a second roll angle obtained using a parameter which changes with a phase earlier than the first roll angle, and to calculate the first composition roll angle by changing the weight assignment ratio such that a weight of the second roll angle is higher when the steering maneuver determination unit determines that an abrupt steering maneuver is made than when the steering maneuver determination unit determines that the abrupt steering maneuver is not made.

A method for operating a braking assistance system of a vehicle, wherein the braking assistance system assists a braking of the vehicle by a vehicle braking device in the event of a hazard braking. To differentiate between the hazard braking and a normal braking, at least two variables, representing a braking demand of a driver of the vehicle, are ascertained and a threshold value is established for each variable wherein hazard braking is recognized when at least the two variables exceed their particular threshold value, whereupon an automated braking intervention by the braking assistance system is initiated with the aid of the vehicle braking device. Furthermore, at least one driving-situation variable representing the instantaneous driving situation of the vehicle is ascertained and the at least two threshold values are changed depending on the at least one driving-situation variable.

In this brake control device for a motorcycle, a deceleration threshold value calculation unit limits target wheel deceleration to a threshold value or less on the basis of a bank angle estimated by a bank angle calculation unit. Thus, the behavior of the vehicle body during turning of the motorcycle can be made more stable so as not to cause discomfort to a driver.