A method pertaining to braking of a vehicle combination (100) which combination comprises a tractor vehicle (110) with a towed vehicle (112), where both are configured to be braked. The tractor vehicle (110) is provided with a first control unit (200) having a function for regulation of coupling force between the tractor vehicle (110) and the towed vehicle (112). Regulation of coupling force includes adaptation data and the towed vehicle bears an ID specification. The method includes the steps of: transferring the ID specification from the towed vehicle (112) to the tractor vehicle (110); during a braking process, registering adaptation data associated with the braking process together with the ID specification. Also a computer program product includes program code (P) for a computer (200; 205) for implementing the method. Also a system pertaining to braking of a vehicle combination (100) and to a vehicle combination (100) is equipped with the system.

A method for estimating an axle load distribution in a road train, including: ascertaining at least one load on an axle of the road train using a slip value and a force value, in which the slip value represents a slip between the axle and a further axle of the road train and the force value represents a tractive or decelerating force at the axle. Also described are a related apparatus and a computer readable medium.

Methods and systems automatically scale and set trailer brake gain without a need for vehicle driver input and without testing. Scaling a trailer brake gain of a trailer towed by a vehicle includes obtaining sensor data via one or more sensors of the vehicle. A processor computes a trailer weight of the trailer and a trailer resistance force of the trailer. The processor automatically updates the trailer brake gain based on both the trailer weight and the trailer resistance force and may use vehicle data and axle torque.

Methods and systems automatically scale and set trailer brake gain without a need for vehicle driver input and without testing. Scaling a trailer brake gain of a trailer towed by a vehicle includes obtaining sensor data via one or more sensors of the vehicle, including from a hitch load sensor. A processor computes a trailer resistance force of the trailer based on the sensor data. The processor automatically updates the trailer brake gain based on both the sensor data and the trailer resistance force.

A control device is for a vehicle and a method is for improving the measuring accuracy of an on-board vehicle axle load measurement system during a loading or unloading process and/or during the levelling of a stationary vehicle, wherein a wheel brake is assigned to each vehicle wheel, and wherein each wheel brake is actuatable via an on-board vehicle electronic braking system. The control device is configured to control the electronic braking system such that the latter, by the repeated engagement and/or release of at least one or more of the wheel brakes, reduces mechanical stresses within the vehicle body which impair the accuracy of the axle load measurement system. A method is for operating this control device.

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.

Disclosed is a method for automatically controlling brakes in a trailer vehicle having antilock control, wherein wheel rotational speeds are continuously monitored and evaluated at wheels having antilock control. According to the method, lateral acceleration and longitudinal acceleration of the trailer vehicle are determined. If a predefined, critical lateral acceleration is exceeded, an automatic braking process occurs. A control unit and trailer vehicle are also disclosed in connection with the inventive method.

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.

An electronically controllable pneumatic brake system for a utility vehicle has an electronic service brake control unit and a brake pressure modulator which modulates a service brake pressure at a service brake pressure port in accordance with service braking signals provided by the electronic service brake control unit. The brake pressure modulator has a ventilation port. The brake system furthermore has an electronic redundancy control unit and at least one redundancy pressure modulator which modulates a redundancy brake pressure at a redundancy brake pressure port in accordance with redundancy braking signals that are provided by the electronic redundancy control unit. The redundancy pressure modulator has a redundancy ventilation port. Provision is made for the redundancy brake pressure port to be connected to the ventilation port such that the redundancy brake pressure can be modulated, via a ventilation path of the brake pressure modulator, at the service brake pressure port.