A speed control system (12) for a vehicle (100), the speed control system (12) being configured to: automatically cause application of positive and negative torque, as required, to one or more wheels of a vehicle (100) to cause a vehicle to travel in accordance with a target speed value, the target speed value being stored in a memory of the control system (12); and detect a crest of a slope ahead of the vehicle (100); wherein the speed control system (12) is configured automatically to attempt to adjust a speed of the vehicle (100) to cause the vehicle (100) to travel at a predetermined crest speed value when a crest of a slope is detected ahead of the vehicle (100), the predetermined crest speed value being determined in dependence at least in part on terrain gradient information respect of terrain prior to the crest.

A speed control system (12) for a vehicle (100), the speed control system (12) being configured to: automatically cause application of positive and negative torque, as required, to one or more wheels of a vehicle (100) to cause a vehicle to travel in accordance with a target speed value, the target speed value being stored in a memory of the control system (12); and detect a crest of a slope ahead of the vehicle (100); wherein the speed control system (12) is configured automatically to attempt to adjust a speed of the vehicle (100) to cause the vehicle (100) to travel at a predetermined crest speed value when a crest of a slope is detected ahead of the vehicle (100), the predetermined crest speed value being determined in dependence at least in part on terrain gradient information respect of terrain prior to the crest.

The invention relates to a method for providing vehicle steering support by differential wheel braking, the vehicle comprising: at least two axles with at least two wheels per axle; a braking system allowing individual braking of the wheels; and means for determining and/or estimating an operator input torque applied on a steering wheel, wherein the vehicle is configured with a positive scrub radius; the method comprising the steps of: identifying a need for steering support; determining a braking value required for achieving the needed steering support based on an integration of a function of at least one input value (T.sub.input) related to a determined or estimated operator input torque; and controlling the braking system based on the determined braking value.

The invention relates to a method for providing vehicle steering support by differential wheel braking, the vehicle comprising: at least two axles with at least two wheels per axle; a braking system allowing individual braking of the wheels; and means for determining and/or estimating an operator input torque applied on a steering wheel, wherein the vehicle is configured with a positive scrub radius; the method comprising the steps of: identifying a need for steering support; determining a braking value required for achieving the needed steering support based on an integration of a function of at least one input value (T.sub.input) related to a determined or estimated operator input torque; and controlling the braking system based on the determined braking value.

A vehicle includes a brake device, a suspension, and an electronic control unit configured to: control the brake device such that, in at least a part of a first range being a required deceleration range lower than a lower limit value of a vehicle deceleration perceivable by a person in the vehicle, a front-rear distribution ratio is constant regardless of the vehicle deceleration, and, in a second range in which the vehicle deceleration is higher than that in the first range, the front-rear distribution ratio is biased toward a rear wheel than in the first range; and in a specific deceleration range including the second range and higher than the first range, execute at least one of reducing a compression-side damping force of a front wheel damper compared with the first range and increasing an extension-side damping force of a rear wheel damper compared with the first range.

A vehicle includes a brake device, a suspension, and an electronic control unit configured to: control the brake device such that, in at least a part of a first range being a required deceleration range lower than a lower limit value of a vehicle deceleration perceivable by a person in the vehicle, a front-rear distribution ratio is constant regardless of the vehicle deceleration, and, in a second range in which the vehicle deceleration is higher than that in the first range, the front-rear distribution ratio is biased toward a rear wheel than in the first range; and in a specific deceleration range including the second range and higher than the first range, execute at least one of reducing a compression-side damping force of a front wheel damper compared with the first range and increasing an extension-side damping force of a rear wheel damper compared with the first range.

A vehicular breaking force control system that includes a control device including a processor that acquires a plurality of longitudinal accelerations from a driving assistance system, and calculates a driving/braking request when the vehicle is in a coasting state in which an acceleration operation or a deceleration operation are not performed during running of the vehicle. The processor further acquires a driving force lower limit set for a powertrain actuator having a set gear ratio, and distributes the driving/braking request to at least one of (i) a powertrain system including the powertrain actuator and (ii) a brake system including a brake actuator. The driving/braking request is distributed to the at least one of the powertrain system and the brake system based on the acquired driving force lower limit.

A vehicular breaking force control system that includes a control device including a processor that acquires a plurality of longitudinal accelerations from a driving assistance system, and calculates a driving/braking request when the vehicle is in a coasting state in which an acceleration operation or a deceleration operation are not performed during running of the vehicle. The processor further acquires a driving force lower limit set for a powertrain actuator having a set gear ratio, and distributes the driving/braking request to at least one of (i) a powertrain system including the powertrain actuator and (ii) a brake system including a brake actuator. The driving/braking request is distributed to the at least one of the powertrain system and the brake system based on the acquired driving force lower limit.

A vehicle may have actuators, including a drive device with a drive motor that can act on a drive wheel, a brake device with a brake that can act on a drive wheel, and/or a steering device with a steering sensor by way of which the steering angle of a wheel is adjustable, a vehicle movement controller, and a setpoint value input means, a setpoint value processing means for detecting setpoint value settings of the setpoint value input means, to calculate a yaw acceleration setpoint value and translational acceleration setpoint values from the setpoint value settings. The setpoint value processing means may be configured to transfer the calculated yaw acceleration setpoint value and translational acceleration setpoint values to the vehicle movement controller, which is configured to actuate one or more of the actuators such that the yaw acceleration setpoint value and the translational acceleration setpoint values are reached.

A vehicle may have actuators, including a drive device with a drive motor that can act on a drive wheel, a brake device with a brake that can act on a drive wheel, and/or a steering device with a steering sensor by way of which the steering angle of a wheel is adjustable, a vehicle movement controller, and a setpoint value input means, a setpoint value processing means for detecting setpoint value settings of the setpoint value input means, to calculate a yaw acceleration setpoint value and translational acceleration setpoint values from the setpoint value settings. The setpoint value processing means may be configured to transfer the calculated yaw acceleration setpoint value and translational acceleration setpoint values to the vehicle movement controller, which is configured to actuate one or more of the actuators such that the yaw acceleration setpoint value and the translational acceleration setpoint values are reached.