Disclosed is a method using a brake-to-steer model predictive control to providing a limited level of lateral control for self-driving or semi-self-driving vehicles, when a component of a vehicle steering system fails or is failing.

Systems and methods for coordinating and controlling vehicles, for example heavy trucks, to follow closely behind each other, or linking to form a platoon. In one aspect, on-board controllers in each vehicle interact with vehicular sensors to monitor and control, for example, relative distance, relative acceleration or deceleration, and speed. In some aspects, vehicle onboard systems supply various data (breadcrumbs) to a Network Operations Center (NOC), which in turn provides data (authorization data) to the vehicles to facilitate platooning. The NOC suggests vehicles for platooning based on, for example, travel forecasts and analysis of relevant roadways to identify platoonable roadway segments. The NOC also can provide traffic, roadway, weather, or system updates, as well as various instructions. In some aspects, a mesh network ensures improved communication among vehicles and with the NOC. In some aspects, a vehicle onboard system may provide the authorization data.

An emergency brake system for a heavy-duty vehicle, comprising: a pressure sensor arrangement configured to issue a first signal, S1, upon determination that the pressure in a regular brake circuit is zero or below a predefined pressure threshold value, a speed sensor configured to issue a second signal, S2, upon determination that the speed of the heavy-duty vehicle exceeds a predefined speed threshold, a parking-brake sensor configured to issue a third signal, S3, upon determination that the parking brake is in an applied state, a retarder brake configured to decelerate the heavy-duty vehicle upon activation of the retarder brake, a processing circuitry configured to activate the retarder brake upon receiving all of said three signals S1, S2 and S3.