An apparatus determines a road friction of a commercial vehicle. The commercial vehicle has a first axle and a second axle, a load distribution mechanism for changing a load on the first axle or on the second axle, and a slip sensor for determining a slip value for at least one wheel on the first axle or on the second axle. The apparatus includes an evaluation unit configured to control the load distribution mechanism to change the load of the first axle or on second axle, determine a change in the slip value in response to the change of the load, and evaluate the road friction based on the change in the slip value.

A control system for controlling one or more torque generating devices on a heavy-duty vehicle comprising a primary sensor system with a primary sensor control unit configured to interpret an output signal of the primary sensor system, wherein the primary sensor control unit is configured to determine a first load value associated with the heavy-duty vehicle, and one or more tire sensor devices mounted on 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 tire sensor control unit is configured to determine a second load value associated with the heavy-duty vehicle, wherein the control system is arranged to base control of the heavy-duty vehicle on the second load value in case of malfunction in the primary sensor system and/or in the primary sensor control unit.

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.

Provided is a brake control apparatus configured to: set a target slip degree of each of three wheels other than an outer front wheel to a slip degree of the outer front wheel; perform feedback control so that an actual slip degree of each of the three wheels becomes close to the target slip degree; and decrease a feedback control amount of a wheel which is to be controlled to increase an anti-spin yaw moment when an understeer suppression condition is satisfied.

A predetermined relationship among various loading states, stability factor (Kh) of a vehicle and lateral acceleration (Gy) of the vehicle is stored in a storage device (30A) as a reference relationship (i.e. a map). Information regarding a lateral acceleration (Gy) of the vehicle is acquired using a lateral acceleration sensor (40). An estimated value of the stability factor (Kh) of the vehicle is calculated on the basis of vehicle travelling data when turning. A loading state of the vehicle is estimated on the basis of the area in which the estimated value of the stability factor and the lateral acceleration of the vehicle which is at the same point in time as the vehicle travelling data which were provided for the calculation of the estimated value belong in the reference relationship.

A method for validating a model of vehicle dynamics for use in autonomous driving. The method comprising setting a wheel slip limit on an operation of at least one vehicle torque device, obtaining a model of vehicle dynamics based on the set wheel slip limit, and validating the model of vehicle dynamics based on the set wheel slip limit.

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.

A vehicle operational diagnostics and condition response system includes at least an axle supporting a vehicle frame, a suspension disposed between and secured to each the vehicle frame and the axle, a load detection device interacting with the suspension and communicating with a system controller, wherein the system controller is supported by the vehicle frame, and a vehicle pairing circuit, the vehicle pairing circuit interacting with the system controller. The vehicle pairing circuit activated by the system controller in response to load detection data received by the system controller from the load detection device.

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.

A method in a vehicle for estimating vehicle motion state during a vehicle maneuver, comprising; obtaining a trigger signal indicating an onset of the vehicle maneuver, selecting a sub-set of wheels on the vehicle to be in a free-rolling condition, measuring one or more parameters related to revolution of the sub-set of wheels in free-rolling condition, and estimating the vehicle motion state based on the measured parameters.