Electric equipment for a vehicle with an electropneumatic service brake device, in which at least one pneumatic brake control pressure is immediately and directly controlled to the electromagnetic backup valve, which is still being closed by a current, of at least one pressure regulating module in response to an assistance brake request signal regardless of a defect of an electric service brake circuit. For a failure of the electric service brake circuit, the electromagnetic backup valve, which is then in the currentless state, of the at least one pressure regulating module is automatically opened, and the brake pressure is immediately formed in the pressure regulating module based on the at least one pneumatic brake control pressure already present in the pressure regulating module. Thus, the reaction time of a pneumatic redundancy of the electropneumatic service brake device in response to electric defects is reduced.

A method of controlling braking of a vehicle is provided to minimize heat generation in a brake system at a time of braking the vehicle while securing an appropriate braking force. The method includes determining whether an inclination condition for a road satisfies a preset condition, and when the inclination condition for the road satisfies the preset condition, performing cyclic brake control of alternately braking wheels of two or more different axles of the vehicle.

Operating a vehicle with an open door creates risks. Embodiments herein consider both when a vehicle is in an autonomous driving (AD) mode and a manual mode. When in AD mode, if an occupant opens the doors while the vehicle is moving, the control system may lower the speed to stop and may park the vehicle (or not park it depending upon the control policy). If an occupant opens the doors when the vehicle is stationary, the control system may keep the vehicle from rolling and from brake system failures. When the vehicle is in a manual model and a door is opened when the vehicle is moving, a warning message may be triggered; whereas, if a door is opened when the vehicle is stationary, the control system may keep the vehicle from rolling and from brake system failures. Warning messages may be triggered for different stages/conditions.

Embodiments are presented for trailer sway detection and braking distribution using a camera mirror system. In one embodiment, a vehicle controller is provided comprising: one or more processors; a non-transitory computer-readable medium; and program instructions stored on the non-transitory computer-readable medium. The program instructions, when executed by the one or more processors, cause the one or more processors to: monitor images captured by at least one image capture device to detect sway of a plurality of trailers being towed by a tractor; estimate a relative weight of each of the plurality of trailers based on the detected sway; determine braking force to apply to each of the plurality of trailers based on the estimated relative weight of each of the plurality of trailers; and send an electronic signal to a braking system of each of the plurality of trailers to apply the determined braking force to each of the plurality of trailers.

A vehicle trajectory for transitioning out of a deceleration trajectory may be determined based on predicted vehicle state(s) and/or environmental condition(s). A determination about whether to transition into the determined trajectory may be based on whether the condition that triggered the deceleration trajectory still exists, whether the determined trajectory meets safety criteria, and/or whether an alternative deceleration trajectory is warranted. The determination may be used to determine which trajectory to control the vehicle and/or to inform the vehicle's driving behavior.

A method for determining a trailer brake magnitude for a trailer brake system of a trailer being towed by a vehicle includes determining connection of a trailer to a vehicle, determining at least one trailer parameter relating to a size, shape or a weight of the trailer, and determining a trailer braking magnitude as a function of the at least one trailer parameter.

A method for operating a braking system for a motor vehicle is proposed. The method includes the step of operating at least one rear wheel brake and at least one front wheel brake to perform a parking braking function when there is a requirement for parking braking. Furthermore, a braking system, a method for controlling it, a computer program, a control unit and a motor vehicle are proposed.

A computer system has processing circuitry to obtain vehicle combination load information of at least one of a vehicle and a trailer of a vehicle combination, the vehicle and the trailer being connected to each other; and determine a type of connection between the vehicle and the trailer based on said vehicle combination load information.

A method for handling braking of a combination vehicle (i.e., a towing vehicle and at least one trailer) includes vehicle-specific dynamic updating and implementation of a brake pedal position deceleration map, including utilization of brake pedal position information and vehicle motion information in conjunction with a brake pedal position deceleration map to trigger braking, determining an error in actual deceleration relative to a target deceleration is determined, checking whether compensation for the determined error would be limited by a trailer brake saturation limit, determining an adjustment of brake pedal position to correct deceleration when the determined error is limited by the trailer brake saturation limit, classifying the adjustment into one or more predefined correction categories, updating the brake pedal position deceleration map when the classified adjustment indicates remapping is needed, and utilizing the updated map in actuating brakes of the vehicle. A combination vehicle including a processor configured to perform the method, and a computer-readable storage medium, are further provided.

A method for handling braking of a combination vehicle (i.e., a towing vehicle and at least one trailer) includes vehicle-specific dynamic updating and implementation of a brake pedal position deceleration map, including utilization of brake pedal position information and vehicle motion information in conjunction with a brake pedal position deceleration map to trigger braking, determining an error in actual deceleration relative to a target deceleration is determined, checking whether compensation for the determined error would be limited by a trailer brake saturation limit, determining an adjustment of brake pedal position to correct deceleration when the determined error is limited by the trailer brake saturation limit, classifying the adjustment into one or more predefined correction categories, updating the brake pedal position deceleration map when the classified adjustment indicates remapping is needed, and utilizing the updated map in actuating brakes of the vehicle. A combination vehicle including a processor configured to perform the method, and a computer-readable storage medium, are further provided.