Methods, apparatuses and computer program products for estimating absolute wheel roll radii and/or a vertical compression value of wheels of a vehicle are disclosed, wherein yaw rates of the vehicle, wheel speeds of first and second wheels, and optionally lateral acceleration of the vehicle are measured and used as a basis for the estimation.

Provided is a wheel load estimation device configured to acquire wheel speed information of each wheel included in a vehicle from a wheel speed sensor provided in the vehicle; to calculate a front-rear load ratio and a left-right load ratio based on the wheel speed information; and to calculate a wheel load ratio expressing a relative wheel load between the wheels included in the vehicle, with respect to at least one wheel of the vehicle, based on the front-rear load ratio and the left-right load ratio. The front-rear load ratio is a ratio between a load applied to a front wheel of the vehicle and a load applied to a rear wheel of the vehicle, and the left-right load ratio is a ratio between a load applied to a left wheel of the vehicle and a load applied to a right wheel of the vehicle.

In a braking performance evaluation method including the steps of acquiring a tire ground contact pressure distribution, acquiring a sliding friction coefficient table, and calculating a friction force of an entire tire using a brush model having a function representing the tire ground contact pressure distribution and the sliding friction coefficient table, the step of acquiring the tire ground contact pressure distribution includes the step of acquiring a first ground contact pressure distribution on a road surface on which no water film is present via actual measurement or calculation and the step of acquiring a second ground contact pressure distribution by applying reduction in a ground contact pressure due to a water film intruded between the tire and the road surface to the first ground contact pressure distribution and using the second ground contact pressure distribution as the tire ground contact pressure distribution used for the calculating.

An apparatus for estimating brake judder of a vehicle and a method thereof includes a communication device that receives sensor data from a plurality of vehicles, and a controller that extracts learning data by pre-processing the sensor data, trains a clustering model to group characteristic data corresponding to the learning data into a preset number of clusters, and estimates brake judder of a target vehicle based on the learned clustering model.

Techniques are described for determining weight distribution of a vehicle. A method of performing autonomous driving operation includes determining a vehicle weight distribution that values for each axle of the vehicle that describe weight or pressure applied on a respective axle. The values of the vehicle weight distribution are determined by removing at least one value that is outside a range of pre-determined values from a set of sensor values. The method further includes determining a driving-related operation of the vehicle weight distribution. For example, the driving-related operation may include determining a braking amount for each axle and/or determining a maximum steering angle to operate the vehicle. The method further includes controlling one or more subsystems in the vehicle via an instruction related to the driving-related operation. For example, transmitting the instruction to the one or more subsystems causes the vehicle to perform the driving-related operation.

A braking force control device is provided which has a control unit that controls an upstream braking actuator that generates a common upstream pressure for four wheels and a downstream braking actuator that individually controls the braking pressure supplied to each wheel using the upstream pressure. The control unit controls the upstream pressure so that the braking pressure of the front wheels is permitted to be higher than a lock pressure of the rear wheels but does not become higher than a lock pressure of the front wheels, and suppresses an increase of the braking pressure of the rear wheels so that the braking pressure does not become higher than the lock pressure of the rear wheels, in a situation where the upstream pressure can be supplied to each braking force generating device but the braking pressure of any one of the wheels cannot be decreased.

A motion control system for controlling one or more torque generating devices on a heavy-duty vehicle, the system comprising a primary sensor system with a primary sensor control unit configured to interpret an output signal of the primary sensor system, one or more tire sensor devices mounted on, in, or in connection to, one or more tires of the heavy-duty vehicle, and a tire sensor control unit configured to interpret an output signal of the one or more tire sensor devices, wherein the motion control system is arranged to base motion control of the heavy-duty vehicle on output data of the tire sensor control unit in case of malfunction in the primary sensor system and/or in the primary sensor control unit, and on output data of the primary sensor control unit otherwise.

A method is disclosed for mitigating wheel hop of a motor vehicle. The method may involve detecting an oscillation of a wheel speed of a driven wheel of the motor vehicle of the motor vehicle. When oscillation of the wheel is detected, a low amplitude, high frequency ripple braking signal is applied to a brake caliper associated with the wheel to modulate a braking action acting on the wheel.

The invention has a purpose of providing a wheelie controller and a control method thereof capable of preventing a reduction of acceleration that is more than necessary and reducing a shock during a contact of a front wheel with the ground when a wheelie state is terminated.

The wheelie controller for controlling a wheelie of a vehicle body computes a target trajectory, which is a target of a parameter and is used to control the wheelie state of the vehicle body, in accordance with the parameter that is related to pitch of the vehicle body and controls an increase/reduction of the pitch of the vehicle body so as to bring the parameter close to the target trajectory.

An undercarriage having an undercarriage leg carrying at least one stub, the stub being provided with a hollow element. An onboard device comprises a bar and at least one measurement unit. The measurement unit comprises two pieces of equipment, one of the pieces of equipment comprising a measurement member and one of the pieces of equipment comprising a wall. One of the two pieces of equipment is secured to the bar and one of the two pieces of equipment is secured to the hollow element, the onboard device including a test system. The test system has movement means for imparting, on request, relative movement between the pieces of equipment in order to detect a potential malfunction and in order to generate an alert if a malfunction is detected.