A vehicle is provided with an engine to provide drive torque and a braking system to provide brake torque. The vehicle is also provided with a controller that is programmed to limit vehicle speed to a target speed by controlling at least one of the engine and the braking system to modify its output torque, the target speed being dependent on brake pedal position and a clearance distance between the vehicle and an external object.

The present invention provides a vehicle control apparatus capable of ensuring drivability when a vehicle is turning. The vehicle control apparatus calculates a vehicle body speed based on a wheel speed of each of wheels, and controls a slip state of each of the wheels according to states of a corrected wheel speed, which is acquired by correcting the wheel speed based on vehicle specifications indicating a position of each of the wheels, and based on the vehicle body speed. Alternatively, the vehicle control apparatus calculates a corrected wheel speed, which is acquired by removing a wheel speed change component generated along with a turn from a wheel speed of each of a plurality of wheels, and controls a slip state of the wheels according to states of the control wheel speed and the vehicle body speed

A method is described for estimating longitudinal velocity of a vehicle on a road surface. The method includes obtaining a measured value of vehicle acceleration, which is dependent on longitudinal acceleration of the vehicle and vertical acceleration of the vehicle when a slope of the road surface is non-zero. The method includes determining an initial estimate of the slope. The method includes determining a difference between the initial estimate of the slope and a prior estimate of the slope and, based on the difference, setting a current estimate of the slope to be equal to the initial estimate or the prior estimate. The method includes estimating the longitudinal velocity of the vehicle based on the current estimate of the slope and the measured value of vehicle acceleration. The method includes controlling at least one wheel of the plurality of wheels based on the estimated longitudinal velocity of the vehicle.

A vehicle brake device is provided with: an acquisition unit that acquires travel resistance force produced between a vehicle wheel and a road surface touched by the wheel when, for example, a vehicle having the wheel travels, on the basis of driving force of the vehicle and acceleration of the vehicle; and a control unit that starts a control for supplying braking force to the wheel of the vehicle when a difference between the travel resistance force and a predetermined value exceeds a first threshold value and a differential value of the travel resistance force exceeds a second threshold value.

In one embodiment, a system determines activation parameters for an autonomous driving vehicle (ADV), where the activation parameters include historical usages of a primary brake system or a secondary brake system. In response to determining that a brake is to be applied, the system determines whether to activate a primary or a secondary brake system based on the activation parameters. The system sends an activation flag to activate the primary or the secondary brake system based on the determining whether to activate the primary or the secondary brake system. The system sends a brake command to the primary and the secondary brake system to activate either the primary or the secondary brake system according to the activation flag.

A brake controller is provided with a positive efficiency operation limiter configured to provide a time for maintaining or decreasing a torque to be generated by a motor, such that a braking force generated by pressing between a brake rotor and friction pads does not decrease, while a braking force command value outputted from a braking force command section increases. For example, the limiter limits a ratio of a time for increasing the braking force, relative to a sum of the time for increasing the braking force and the time for maintaining or decreasing the braking force, to a predetermined value or less.

A vehicle control apparatus which performs a travel control of a vehicle during a traffic jam, includes a wheel setting unit configured to set at least one wheel to be a brake wheel to be applied with a braking force during the travel control and at least one wheel to be a non-brake wheel not to be applied with the braking force during the travel control, and a control unit configured to perform the travel control of the vehicle based on a rotation amount of the at least one brake wheel and a rotation amount of the at least one non-brake wheel detected by a wheel speed sensor detecting the rotation amount of a wheel of the vehicle.

The present disclosure relates to a resource allocation procedure for allocating time-frequency radio resources by a scheduler in a mobile communication system. A plurality of numerology schemes are defined, each partitioning a plurality of radio resources of the mobile communication system into resource scheduling units in a different manner. A reference resource set is defined per numerology scheme, each being associated to a set of radio resources usable for being allocated according to the respective numerology scheme. The reference resource set of at least one numerology scheme overlaps with the reference resource set of at least another numerology scheme in the frequency and/or time domain. The resource allocation procedure is performed for allocating radio resources to one or more user terminals according to the numerology schemes. The resource allocation procedure is performed for each numerology scheme based on a scheduling time interval defined for the respective numerology scheme.

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.

A method for automatically testing vehicle braking systems may include receiving, with a computing system, an input associated with performing an autonomous brake test of a vehicle braking system of a work vehicle and, in response to the input, autonomously releasing, with the computing system, a vehicle brake of the vehicle braking system. The method may further include autonomously engaging, with the computing system, a drive system of the work vehicle to initiate movement of the work vehicle and autonomously applying, with the computing system, the vehicle brake once the work vehicle has reached a predetermined speed or once the work vehicle has traveled a predetermined distance. Moreover, the method may include determining, with the computing system, whether the work vehicle has achieved a stopped condition upon application of the vehicle brake.