A method and system for determining a maximum cornering braking threshold for a motorcycle includes determining an absolute lean angle with respect to horizontal and a relative lean angle for the motorcycle relative to a road surface. The maximum cornering braking threshold is determined from at least the absolute lean angle and the relative lean angle. The maximum cornering braking threshold is used to provide stability during motorcycle cornering. A multi-dimensional look-up table stores different maximum cornering braking thresholds that correspond to different combinations of absolute lean angles and relative lean angles. The relative lean angle is determined by processing video data from a video sensor. Values for additional conditions, such as motorcycle speed, wheel slip coefficient, steering angle, mue and type of road way are stored in the multi-dimensional look-up table to assist in determining the maximum cornering braking threshold.

A method includes continuously recording, by the autonomous driving safety or driver assistance system, at least one of vehicle-related data and vehicle surroundings-related data, continuously repeatedly deciding, based on the recorded data, whether a driving safety or driver assistance system process is to be autonomously initiated or carried out, and carrying out a checking process, during which sensor data and parameter settings that are necessary for the operation of the driving safety or driver assistance system are checked for the plausibility thereof. The checking process is carried out immediately following a start of travel of the motor vehicle. In a period of time between the start of travel of the motor vehicle and a start of operation of the driving safety or driver assistance system, an auxiliary process for an immediate and safe auxiliary mode of the driving safety or driver assistance system is used during a checking period.

A method and system for determining a maximum cornering braking threshold for a motorcycle includes determining an absolute lean angle with respect to horizontal and a relative lean angle for the motorcycle relative to a road surface. The maximum cornering braking threshold is determined from at least the absolute lean angle and the relative lean angle. The maximum cornering braking threshold is used to provide stability during motorcycle cornering. A multi-dimensional look-up table stores different maximum cornering braking thresholds that correspond to different combinations of absolute lean angles and relative lean angles. The relative lean angle is determined by processing video data from a video sensor. Values for additional conditions, such as motorcycle speed, wheel slip coefficient, steering angle, mue and type of road way are stored in the multi-dimensional look-up table to assist in determining the maximum cornering braking threshold.

An Electronic Stability Control (ESC) system for a vehicle is disclosed. An electronic control unit (ECU) is programmed to reduce vehicle lateral skidding by reducing differences between an intended vehicle direction and/or yaw rate and an actual vehicle direction and/or yaw rate by applying modifications to operation of the vehicle brakes and/or throttle. The ESC system receives inputs from wheel speed sensors, a steering wheel position sensor, a yaw rate sensor and a lateral acceleration sensor. The ESC system also receives input that indicates at least a property of the road upon which the vehicle is located, wherein the road upon which the vehicle is located is determined from a positioning system that uses a map database and the property is determined from the map database. The ESC system incorporates the road property information in determining when and/or how to modify operation of the vehicle to reduce vehicle skidding.

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.