A vehicle is provided with: a main vehicle body having an attachment portion to which a towed vehicle can be attached, and a first onboard unit and a second onboard unit attached to the main vehicle body, the first onboard unit and the second onboard unit being installed so as to be capable of communicating with a roadside device. The first onboard unit has type information relating to the type of the main vehicle body, and is provided at a position at which communication with the roadside device is possible both when the towed vehicle is attached to the attachment portion and when the towed vehicle is not attached to the attachment portion. The second onboard unit is provided at a position at which communication with the roadside device is possible when the towed vehicle is not attached to the attachment portion and at which communication with the roadside device is not possible when the towed vehicle is attached to the attachment portion.

A method for decelerating a vehicle combination including a towing vehicle having a towing vehicle brake system and at least one trailer vehicle having a trailer brake system with an anti-lock brake system includes applying, by the towing vehicle brake system, a brake pressure to pneumatically operable wheel brakes of the towing vehicle according to a desired deceleration specified by a driver, and providing, by the towing vehicle brake system, a trailer brake pressure for the trailer brake system of the at least one trailer vehicle. An electronic brake control unit of the towing vehicle brake system: detects a current actual vehicle deceleration value continuously compares the current actual vehicle deceleration actual value with a maximum deceleration, and, when the current actual vehicle deceleration value reaches or exceeds the maximum deceleration, limits the brake pressure and provides an information signal.

A method and device for braking a traction vehicle-trailer combination with a traction vehicle and at least one trailer, in which a traction controller is provided for a brake system of the traction vehicle, and for a brake system of the at least one trailer, no traction controller is provided or a traction controller is provided for the axles which are present, but with a brake-slip-determining arrangement on fewer axles than the number of axles, in which (a) the trailer brake system is controlled by the traction vehicle brake system, and (b) during a braking it is determined whether there is a risk of the trailer swinging out as to the traction vehicle, or whether such swinging is imminent or is occurring, and (c) the braking force or the braking of the trailer is reduced if it has been determined in (a) that there is a risk of the trailer swinging out, or is imminent or is occurring, and (d) a risk of the trailer swinging out, or imminent or occurring swinging out of the trailer, as to the traction vehicle, is detected according to (a) by the traction controller.

A brake system for controlling a brake of a unit hauled by a vehicle, the brake system including a first pedal for braking a right rear wheel of the vehicle through a first braking circuit, a second pedal for braking a left rear wheel of the vehicle through a second braking circuit, an input line arrangement including a first input line for receiving a fluid from the first braking circuit and a second input line for receiving a fluid from the second braking circuit, at least one output line for sending a fluid to the brake of the hauled unit, and a selective connector for selectively connecting the input line arrangement to the output line by setting a first connection configuration when the vehicle has a speed greater than a threshold value and a second connection configuration when the vehicle has a speed lower than the threshold value, whereby in the first connection configuration pushing any of the pedals activates the brake of the hauled unit, and in the second connection configuration pushing only one of the pedals leaves the brake of the hauled unit inactive, so that the vehicle can be steered by braking.

A method for stabilizing a vehicle combination including a towing vehicle and at least one trailer vehicle includes determining wheel revolution rates of a driven axle of the towing vehicle and a vehicle speed of the towing vehicle, checking, as a first criterion, whether there is braking wheel slip at the driven axle of the towing vehicle without the operation of a wheel brake of the driven axle of the towing vehicle, and actuating, in response to the first criterion being met, at least one wheel brake of the trailer vehicle.

Towed vehicles can be extremely heavy. Accordingly, it is too much of a burden to the braking system of a towing vehicle to not have brakes on the towed vehicle. Controlling the brakes of the towed vehicle must be accurately applied otherwise very dangerous conditions can be created. A method of controlling braking of a towed vehicle is, therefore, needed. The method comprises receiving speed signals based on speed of a towing vehicle, or a towed vehicle, or both said towing vehicle and said towed vehicle, receiving pressure signals based on pressure of a hydraulic brake system of the towing vehicle, and generating a brake output signal based on the speed signals and the pressure signals.

There is provided an automatically guided vehicle (AGV), which is configured to detect if a payload mass differs significantly from a preset payload mass towed and/or carried by the vehicle, and if a payload mass different from the preset payload is detected, the control system of the vehicle is automatically updated to adjust either: i) the speed of the vehicle based on preset safety brake distance information associated with the detected different payload mass; or ii) increase the safety zone or switch to a safer safety zone in order to avoid collision with any obstacles.

A system for identifying a change in a load of a commercial vehicle, the commercial vehicle including an electronic stability program with at least one inertial sensor and a control unit for estimating a mass of the commercial vehicle and/or the load, including: a device for querying sensor data of the at least one inertial sensor; and an evaluation unit which is configured to identify the load change if the queried sensor data exceed a variation range, and inform the control unit of the identified load change to allow the load change to be taken into account in the estimation of the mass. Also described are a related commercial vehicle, method, and computer readable medium.

An electropneumatic control module has a trailer control unit, which has a trailer brake pressure port and a trailer feed pressure port, a holding brake unit, which has a spring-type actuator port and a holding brake pilot control unit, and an electronic control unit, which switches a holding brake pilot control unit into a ventilation position, wherein a second holding brake pilot control port is connected in pressure-conducting manner to a first holding brake pilot control port and the spring-type actuator port is connectable to a vent. The holding brake unit is connected to a redundancy port and is configured to output a first holding brake pressure at the spring-type actuator port when the holding brake pilot control unit is in the ventilation position and a redundancy pressure is provided. The trailer control unit outputs a brake pressure at the trailer brake pressure port when a redundancy pressure is provided.

A system for estimating an articulation angle of a vehicle combination comprises a motion sensor for sensing one or more linear and/or angular motion quantities of the vehicle combination and a dynamics-based estimator configured to estimate state variables, including the articulation angle on the basis of the sensed motion quantities, wherein the dynamics-based estimator is dependent on one or more masses and moments of inertia of the vehicle combination.