Provided is a vehicle body behavior control device and a method of controlling behavior of a vehicle body which can reduce unstable behavior of the vehicle body. A vehicle body behavior control device incorporated into a vehicle body having a plurality of wheels includes: a brake mechanism which controls behavior of the wheels; and a control part which controls an interlocking brake operation in which a braking force is applied to the plurality of wheels using the brake mechanism when an operation for applying braking to any one of the wheels is performed based on a gradient value of a road surface on which the vehicle body travels.

A braking control device includes: a control unit that is configured to control front-wheel braking power and rear-wheel braking power based on braking power distribution and requested braking power; a distribution setting unit that is configured to set the braking power distribution; and a slip judgment unit that is configured to judge whether or not the vehicle is in a rear-wheel-led slip state. If it is judged that the vehicle is in the rear-wheel-led slip state when the braking power distribution is first braking power distribution, the distribution setting unit executes a distribution shifting process of shifting the braking power distribution to second braking power distribution within a predetermined period. The second braking power distribution is such distribution that the rear-wheel braking power is reduced relative to that observed when the first braking power distribution is set as the braking power distribution.

The dynamic footprint of a tire is received and the dynamic footprint is determined by and received from a tire pressure monitoring (TPM) sensor. A weight or load of the secondary vehicle attached to the primary vehicle is calculated based at least in part on the footprint. Instructions to alter the operation of the braking system of the secondary vehicle based on the calculated weight or load are transmitted to the secondary vehicle.

A control system is provided for an articulated vehicle including a towing vehicle, a trailer and an autonomous emergency braking system, wherein the control system includes: a brake control arrangement adapted to apply a friction-estimating braking; a brake force capacity estimation arrangement adapted to estimate the brake force capacity of the vehicle as a function of longitudinal wheel slip based on the applied friction-estimating braking; an axle load estimation arrangement adapted to estimate the normal force on each wheel axle of the vehicle; a friction estimation arrangement adapted to estimate a friction coefficient based on the estimated brake force capacity and at least one of the estimated normal forces; and a brake strategy adaptation arrangement configured to adapt the brake strategy of the autonomous emergency braking system by adjusting the brake force for at least one wheel axle of the Vehicle based on the estimated friction coefficient and the at least one wheel axle's estimated normal force.

A method for determining a contact force on a utility vehicle includes providing the utility vehicle with a first wheel axle and a second wheel axle, determining a drive slip of the second wheel axle, and a road surface-specific determination data set associated with a traction coefficient in dependence on the drive slip, and determining the contact force on the second wheel axle based on the drive slip of the second wheel axle and the road surface-specific determination data set.

A brake device for a vehicle includes: braking devices provided corresponding to right/left wheels, respectively, the braking devices being configured to generate braking forces by pressing forces according to a depression amount of a pedal; a wheel speed sensor configured to detect rotational speeds of the wheels; a pressing force sensor configured to detect the pressing forces; and a control device configured to control the braking force generating devices. The control device is configured to acquire the rotational speeds and the pressing forces in a state where the braking device is performing braking, specify deceleration, based on the acquired rotational speeds, and specify the loads that are supported by the wheels, based on the specified deceleration and the acquired pressing forces and controls the pressing forces corresponding to the right/left wheels such that a difference in deceleration between the right and left wheels becomes smaller, based on the loads.

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.

In a railway vehicle, a brake control device controlling a first brake device that presses a friction material against a wheel and a second brake device not using the friction material includes: a wheel load estimation unit estimating a wheel load-based on a wheel speed and a brake force applied to the wheel by the friction material; a friction surface state quantity estimation unit estimating a current friction coefficient of the friction material from a state of a friction surface thereof based on the wheel load, the wheel speed, and a brake force command, and outputting a mirror-surfacing signal indicating the friction surface is in a mirror-surfaced state when the friction coefficient is less than a first threshold value; and a brake control unit controlling operations of the first and second brake devices based on the brake force command and presence or absence of the mirror-surfacing signal.

A brake fluid pressure control device for vehicles with bar handle which is configured to start a holding control of a fluid pressure of a wheel brake according to wheel deceleration calculated based on a wheel speed of the vehicle is provided. In the brake fluid pressure control device, the vehicle includes an acceleration sensor which is configured to detect acceleration in a front-rear direction of the vehicle, acceleration, detected by the acceleration sensor, which occurs in a rearward direction when the vehicle is decelerating is detected as a positive value, and the holding control is started when it is judged that the acceleration detected by the acceleration sensor is larger than or equal to a detection acceleration threshold value and the wheel deceleration is smaller than or equal to a wheel deceleration threshold value.

A brake fluid pressure control device for vehicles with bar handle, includes: an acceleration acquiring unit which is configured to acquire acceleration that occurs in the vehicle; and a control unit which is configured to judge a probability of occurrence of a rear-wheel lift based on the acceleration acquired by the acceleration acquiring unit, and which is configured to perform a pressure reduction control on a front wheel brake when judging that the occurrence of the rear-wheel lift is probable, the control unit which is configured to adjust a degree of pressure reduction of the pressure reduction control based on a differentiation value of the acceleration acquired by the acceleration acquiring unit.