A method is described for determining interface conditions between a tire and the ground in a motor vehicle, particularly to determine an onset of an aquaplaning phenomena. The method includes: determining a reference longitudinal acceleration of the vehicle, measuring an actual longitudinal acceleration of the vehicle, calculating a difference between the reference longitudinal acceleration and the actual longitudinal acceleration, determining an additional drag at the interface between tire and ground on the basis of the difference, and a lift at the interface between tire and ground on the basis of the additional drag, and determining a threshold force at which a lifting of the tire from the ground occurs, comparing the lift with the threshold force and determining a degree of proximity of the interface conditions between tire and ground to an aquaplaning condition.

Disclosed are a vehicle control apparatus and a control method thereof. The vehicle control apparatus and the control method thereof include an inputter configured to receive wheel slip values sensed by a sensing apparatus; a calculator configured to receive the wheel slip values and calculate a predicted wheel slip value using slip prediction model information on the basis of a previous wheel slip value and a current wheel slip value among the wheel slip values; a determiner configured to determine whether a current state is a first state of which a vehicle moved from a high friction road to a low friction road on the basis of the calculated predicted wheel slip value, compare the calculated predicted wheel slip value with predicted target slip value ranges when the current state is determined as being the first state, and determine whether to control an electric parking brake (EPB) apparatus in which one state among an apply state, a stop state, and a release state; and a controller configured to transmit at least one command among an apply command corresponding to the apply state, a stop command corresponding to the stop state, and a release command corresponding to the release state to the EPB apparatus when the current state is determined as being the first state.

A braking control apparatus includes a driving information detector configured to detect a braking request from a driver while a vehicle is driving; and a vehicle controller configured to control a braking torque of the vehicle in response to the braking request from the driver, wherein the braking torque includes a regenerative braking torque formed by a motor and a hydraulic braking torque formed by a hydraulic brake, and wherein the vehicle controller is configured to perform regenerative braking using an initial regenerative braking torque determined by the braking request from the driver, using an initial regenerative braking torque determined by the braking request from the driver, and when wheel-slippage occurs, the vehicle controller reduces the regenerative braking torque to be less than the initial regenerative braking torque.

A method for controlling motion by a heavy-duty vehicle, where the vehicle is arranged to be controlled based on a target longitudinal wheel slip of at least one driven wheel on the vehicle. The method includes: monitoring an acceleration of the vehicle; monitoring a current longitudinal wheel slip of the at least one driven wheel; reducing the target longitudinal wheel slip of the at least one driven wheel in case the monitored acceleration of the vehicle decreases while the monitored current longitudinal wheel slip is non-decreasing; and controlling wheel slip of the at least one driven wheel based on the target longitudinal wheel slip.

A system and method are provided for efficiently estimating vehicle tire wear. Vehicle kinetics (first) data are provided via one or more sensors associated with the vehicle and/or at least one associated tire. The vehicle kinetics data are locally processed to compress or otherwise generate second data as a reduced subset thereof, said second data representative of the first data and comprising any one or more predetermined wear-specific features extracted therefrom. The second data are selectively transmitted via a communications network to a remote computing system, which processes the second data to estimate a wear characteristic for the at least one tire. Alternatively, the second data processed to generate third data as a reconstruction of the first data, and the third data and the any one or more extracted features are processed to estimate a wear characteristic for the at least one tire.

The disclosure relates to an electro-mechanical brake system including: an electro-mechanical brake configured to generate a braking force in each wheel according to a pedal effect applied to a brake pedal; a brake control unit configured to determine whether a wheel slip has occurred based on a wheel speed sensor values received from wheel speed sensors installed in wheels of a vehicle to set activation or deactivation of Anti-lock Braking System (ABS) control, and activate the ABS control on the electro-mechanical brake according to occurrence of a wheel slip, wherein the brake control unit is configured to obtain a first target wheel torque based on a wheel slip value and a road surface condition upon activation of the ABS control, and obtain a second target wheel torque by recalculating the first target wheel torque based on a communication delay and a mechanical response of the electro-mechanical brake.

A control unit for controlling at least one torque generating MSD on a heavy-duty vehicle. The control unit receives a motion request indicative of a desired positive longitudinal tire force to be generated by the torque generating MSD, obtains an estimated applied torque indicative of a current torque generated by the torque generating MSD, determines a target wheel speed based on the motion request and on the estimated applied torque, and configures the torque generating MSD to maintain the target wheel speed. The control unit is arranged to decrease the target wheel speed in case an increase in configured wheel speed results in a decrease in the estimated applied torque.

A method for controlling propulsion of a heavy-duty vehicle includes. configuring a nominal shaft slip of the drive shaft in dependence of a desired longitudinal wheel force to be generated by the driven axle, wherein a shaft slip is indicative of a difference between a current vehicle velocity and a vehicle velocity corresponding to the rotation speed of the drive shaft, obtaining a rotation speed of the left wheel and a rotation speed of the right wheel, as function of a current shaft slip of the driven axle, estimating a peak shaft slip value associated with an open differential peak longitudinal force of the driven axle, based on the current shaft slip and on the corresponding obtained speeds of the left and right wheels, and controlling propulsion of the heavy-duty vehicle unit by setting the current shaft slip of the drive shaft based on the configured nominal shaft slip adjusted in dependence of the estimated peak shaft slip value.

A brake system of a machine may receive stability data associated with multiple wheels of the machine. The brake system may initiate, based on the stability data, an automatic electrohydraulic braking operation associated with a brake that is operatively connected to a wheel, of the multiple wheels. The brake may be movable from a de-applied position to an applied position to apply a brake force to the wheel. The brake system may prevent, based on initiating the automatic electrohydraulic braking operation, an operator input from controlling a brake pressure that is supplied to the brake via a valve configuration of the brake system. The brake system may decrease, based on an electrohydraulic input, the brake pressure that is supplied to the brake, via the valve configuration, to move the brake from the de-applied position to the applied position to apply the brake force to the wheel.

In a method for operating a electromechanical service brake of a vehicle, wherein the electromechanical service brake comprises a servomotor, which moves a component of the service brake in order to generate a braking force, and a motor-position sensor, which registers a displacement-specific position of the servomotor, a failure of the motor-position sensor is registered, and a feedback control of the servomotor by a motor-position signal from the motor-position sensor is replaced by triggering the servomotor on the basis of at least one servomotor-specific or vehicle-dynamics-specific parameter that is independent of the motor-position sensor.