A computer system comprising a processor device configured estimate a current ride height of a first axle of a vehicle is provided. The processor device is configured to obtain a variation in rotational speed of a first drive shaft. The first drive shaft is driven by a second drive shaft rotating a mechanical joint connected to both the first drive shaft and the second drive shaft. The processor device is configured to estimate the current ride height of the first axle based on the variation in rotational speed of the first drive shaft, an obtained initial ride height of the first axle, and an obtained condition signal. The condition signal indicates a second angle of the second drive shaft, or indicates a ride height of a second axle.

Systems and methods for modifying an attitude of a vehicle are disclosed. A user selects a trailer mode for a vehicle body. The selected trailer mode has a corresponding configuration. The vehicle determines one or more features about a trailer based on the selected trailer mode. The vehicle determines a location of a trailer hitch needed to achieve the configuration corresponding to the selected trailer mode. The location is based on the one or more features about the trailer. The vehicle actuates at least one active component in the vehicle's active suspension system to change the attitude of the vehicle body so as to cause the trailer hitch to be located in the determined location thereby causing the vehicle body to be in the selected trailer mode.

A plurality of traveling wheels are supported via expandable/contractible tubular support members to a vehicle body frame. A hydraulic operation type vehicle height adjustment mechanism is provided for each one of the traveling wheels, the vehicle height adjustment mechanism being capable of switching a relative height of the traveling wheel relative to the vehicle body frame within a predetermined length range by expanding/contracting the support member by a hydraulic cylinder. There are provided a hydraulic control valve capable of controlling feeding state of work oil to each one of the plurality of hydraulic cylinders, a controlling section for controlling an operation of the hydraulic control valve to bring the vehicle body to a target state via vehicle height adjustment by the hydraulic cylinder in response to a change in the posture of the vehicle body and a plurality of accumulators connected oil chambers of the respective plurality of hydraulic cylinders.

The present invention field relates to a braking device of the tilting system of vehicles that have at least three wheels and can lean sideways by virtue of the presence a so-called wheel tilting system. The device is characterized in that it comprises an electronic control unit adapted to receive and process a plurality of signals coming from devices capable of detecting parameters related to the instantaneous dynamic behavior of the vehicle and to selectively actuate said braking means.

The present disclosure discloses a leveling control method for a multi-point support platform, which comprises the steps: respectively measuring and obtaining a load-bearing interaction matrix and a deformation interaction matrix of the platform to construct a load-bearing and deformation joint control matrix; calculating the optimal loads of the legs and measuring the current loads of the legs to obtain the load deviation rates of the legs, and determining if the platform warrants leveling in combination with the two-dimensional inclination angles of the platform; constructing a platform geometry and leg load joint control equation according to the two-dimensional inclination angles of the platform, the load deviations of the legs and the load-bearing and deformation joint control matrix, calculating the actuation quantities of the legs and performing synchronous leveling; and determining the load deviation rates of the legs and the two-dimensional inclination angles of the platform cyclically and performing the actuation control until the leveling goal is achieved. The method is capable of synchronously realizing the geometric leveling of the platform and the load control of the legs, and can significantly improve the speed, geometric accuracy, process stability, leg load-bearing stability and control robustness of the leveling control for the multi-point support platform.

Systems and methods for modifying an attitude of a vehicle are disclosed. A user selects a trailer mode for a vehicle body. The selected trailer mode has a corresponding configuration. The vehicle determines one or more features about a trailer based on the selected trailer mode. The vehicle determines a location of a trailer hitch needed to achieve the configuration corresponding to the selected trailer mode. The location is based on the one or more features about the trailer. The vehicle actuates at least one active component in the vehicle's active suspension system to change the attitude of the vehicle body so as to cause the trailer hitch to be located in the determined location thereby causing the vehicle body to be in the selected trailer mode.

In a four-wheel vehicle with vertically independently movable wheels (2, 2, 3, 3), diagonally opposite wheels (2, 2 or 3, 3) are connected to one another by respective cables (9, 90) guided over deflection rollers (11 to 15). The traction cable mounting makes it possible to adapt the height of the wheels in the event of equal loading of the individual wheels independently of the terrain.

A central joint device for chassis components (2), particularly three-point link, is suggested. The central joint device comprises at least one housing unit (3), at least one joint pin unit (4) which is movably supported at least partially inside of the housing unit (3), and at least one sensor unit (5), particularly a magnetic sensor unit, which is provided for contactless detection of roll motions and pitch motions of the housing unit (3) and of the joint pin unit (4) relative to one another. The sensor unit (5) comprises at least one encoder element (6) and at least one sensor element (7). The encoder element (6) and the sensor element (7) are arranged to be spaced apart from one another and movable relative to one another.

An air spring includes a cover, a base element and a flexible bellows clamped in a pressure-tight fashion between the cover and base element. A level-measuring device, integrated at least partially into the bellows, detects the height of the air spring. The level-measuring device has at least the following: a) at least one angle sensor which is integrated into the bellows, is connected at least in a rotationally fixed fashion to the cover or the base element and has an element which can rotate with respect to a base, b) a mechanical coupling, which is connected, at one end, to the rotatable element of the angle sensor and at the other end, to the cover or to the piston, such that when the height of the air spring changes an angle of at least one element of the mechanical coupling is changed and the angle sensor generates an angle signal which is dependent on the change in angle of the element, c) an evaluation device which assigns the angle signal originating from the angle sensor to a height level of the air spring.

A self-leveling mechanism for a mobility device, the mobility device including a chassis configured to propel the mobility device on a surface, includes a leveling structure on which is mounted a user support for supporting a user of the mobility device. The leveling structure is connected to the chassis by a swivel connection that enables the leveling structure to swivel about the connection, and by two linearly displaceable connections that are laterally displaced from one another. Two linear actuators are each configured to displace one of the displaceable connections to adjust a distance between each displaceable connection and the chassis. A sensor for senses a tilt of the leveling structure and a controller is configured to operate the linear actuators in accordance with the sensed tilt.