An energy consumption estimation device is provided for estimating energy consumption of a vehicle that travels on a road surface. The energy consumption estimation device includes a water information acquisition unit configured to acquire water-related information on a water-related substance on the road surface, and an energy estimation unit configured to estimate the energy consumption of the vehicle that travels on the road surface based on the water-related information acquired by the water information acquisition unit.

A control system (202) can directly or indirectly measure force applied between a trailer (112) and a prime mover vehicle (102) coupled to the trailer. Based on the measured force, the control system can determine an operational state of one or more features of the trailer. For example, static resistance, rolling resistance, and/or acceleration rate of the trailer can be measured while applying a specific braking actuation level to the service air brakes of the trailer. Based at least in part on the measured static resistance, rolling resistance, and/or acceleration rate, an operational model (206) for actuation of the service air brakes can be applied. In some examples, the control system can be part of the prime mover vehicle, for example, an autonomous vehicle.

Example methods and systems for controlling speeds of a vehicle may generally determine a target vehicle acceleration using an autonomy control module of the vehicle. The target vehicle acceleration may be determined based upon at least one of a target vehicle following distance, a target vehicle following speed, or a target vehicle speed. The determined vehicle acceleration may be mapped to a level of vehicle torque using a vehicle dynamics module of the vehicle. Additionally, the level of vehicle torque may be applied to one or more wheels of the vehicle.

A travel controller executes a first correction process on a request value when the vehicle is traveling on an uphill road, and executes a second correction process on the request value when the vehicle is traveling on a downhill road. The first correction process corrects the request value such that the traveling speed is higher than that in a case in which the first correction process is not executed. The second correction process corrects the request value such that the traveling speed is lower than that in a case in which the second correction process is not executed. If hard braking of the vehicle is requested during execution of the first correction process, the travel controller sets a correction amount of the request value to a lower value than that in a case in which hard braking of the vehicle is not requested.

A system for controlling a machine includes a machine configured to travel down a slope, the machine having a braking system, a sensor configured to generate a signal that indicates travel speed of the machine or a weight of the machine, and a controller. The controller is configured to receive the travel speed signal, estimate a rolling resistance of the machine, the rolling resistance being affected by a surface on which the machine travels, update the rolling resistance of the machine over time, and set an amount of braking based on the signal and the rolling resistance estimate.

A mining machine includes: a road gradient calculator that calculates a road gradient of a travel route based on a position and a speed measured by a GNSS receiver, a vehicle body posture measured by a vehicle body posture sensor, and an acceleration measured by an acceleration sensor; a traction coefficient calculator that calculates a traction coefficient based on the speed measured by the GNSS receiver, the acceleration measured by the acceleration sensor, a wheel speed measured by a wheel speed sensor, a steering direction measured by a steering angle sensor, a vehicle weight measured by a load sensor, and a driving torque measured by a driving torque sensor; and a target torque calculator that calculates a target torque based on the road gradient calculated by the road gradient calculator and the traction coefficient calculated by the traction coefficient calculator.

A monitoring system and method determine a consumption metric representative of one or more of an amount of fuel consumed or an amount of energy consumed by a vehicle during travel over a route. The consumption metric is independent of one or more of vehicle load or elevation change over the route. The system and method optionally can determine a route condition metric representative of a condition of a route traveled upon by a vehicle. The route condition metric is based on a comparison between an actual grade of the route at one or more locations along the route and an estimated grade of the route at the one or more locations.

A control device and a method for estimating a driving range for a vehicle. The method comprises, based on available driving energy for the vehicle, estimating distance to empty taking into account an estimated variation in rolling resistance of the vehicle, wherein said estimated variation in rolling resistance of the vehicle is determined using a predetermined transient rolling resistance model into which transient tire temperature effects on rolling resistance are incorporated.

A method for determining a longitudinal tire stiffness (K.sub.x) for at least one wheel on a motor vehicle while the motor vehicle is in operation, may include generating a sinusoidal modulation of an axle drive torque or wheel drive torque necessary for maintaining the current vehicle speed (v), or a braking torque or recuperation torque necessary for maintaining the current braking power in at least one wheel for a sinusoidal excitation of a wheel rotational rate (), such that a sinusoidal oscillation in the wheel rotational rate is induced. The method may also include detecting the resulting sinusoidal oscillation in the wheel rotational rate, determining the amplitude (.sub.amp) of the oscillation in the wheel rotational rate induced, and determining longitudinal tire stiffness (K.sub.x) from the amplitude (.sub.amp). A corresponding apparatus for carrying out the method may be included.

A method approximates a friction value between wheels of a vehicle and a road surface. The method includes the following steps: carrying out at least one test acceleration of the vehicle by acting on at least one test wheel; ascertaining a wheel slip of the test wheel for at least one period of the test acceleration; ascertaining a test manipulated variable provided during the period in order to act on the test wheel; ascertaining a test load characteristic present on the test wheel during the period; and ascertaining a reference friction value for the test acceleration on the basis of the ascertained test load characteristic, the ascertained test manipulated variable and the ascertained wheel slip of the test wheel. A driver assistance system is configured to perform the method. A vehicle includes the driver assistance system.