An agricultural vehicle-trailer-combination includes a traction vehicle including an engine and at least one ground engagement mechanism. A trailer is coupled to the traction vehicle. A service brake connected to the at least one ground engagement mechanism. The combination includes a sensor and a control unit disposed in communication with the sensor, wherein a slip or a slip gradient on the ground engagement mechanism is sensed between the ground engagement mechanism and the ground surface. A trailer brake disposed on the trailer is adjustably controlled by the control unit. The trailer brake is adjustably controlled when the service brake of the traction vehicle is actuated, and the trailer is braked by the trailer brake as a function of the slip or the slip gradient when the slip reaches or exceeds a predeterminable slip braking value or the slip gradient reaches a predeterminable slip gradient braking interval.

A vehicle includes friction brakes, an axle, and a controller. The axle has an electronic limited-slip differential that includes a variable torque capacity lockup clutch. The controller is programmed to, in response to a difference between desired and actual yaw rates exceeding a first threshold, increase the torque of the lockup clutch to decrease the difference between the desired and actual yaw rates. The controller is further programmed to, in response the difference between desired and actual yaw rates exceeding a second threshold that is greater than the first threshold, increase the torque of the friction brakes to decrease the difference between the desired and actual yaw rates.

Techniques are described for determining weight distribution of a vehicle. A method of performing autonomous driving operation includes determining a vehicle weight distribution that values for each axle of the vehicle that describe weight or pressure applied on a respective axle. The values of the vehicle weight distribution are determined by removing at least one value that is outside a range of pre-determined values from a set of sensor values. The method further includes determining a driving-related operation of the vehicle weight distribution. For example, the driving-related operation may include determining a braking amount for each axle and/or determining a maximum steering angle to operate the vehicle. The method further includes controlling one or more subsystems in the vehicle via an instruction related to the driving-related operation. For example, transmitting the instruction to the one or more subsystems causes the vehicle to perform the driving-related operation.

A trailer backup assist system for a vehicle reversing a trailer is provided herein. The system includes a brake system and a steering system of the vehicle. A controller is configured to output a brake torque request to the brake system and a steering command to the steering system, wherein the brake torque request and the steering command are each based at least in part on a trailer mass.

An apparatus determines a road friction of a commercial vehicle. The commercial vehicle has a first axle and a second axle, a load distribution mechanism for changing a load on the first axle or on the second axle, and a slip sensor for determining a slip value for at least one wheel on the first axle or on the second axle. The apparatus includes an evaluation unit configured to control the load distribution mechanism to change the load of the first axle or on second axle, determine a change in the slip value in response to the change of the load, and evaluate the road friction based on the change in the slip value.

A control system for a vehicle includes a speed sensor that generates a vehicle speed signal. A sway detection sensor generates an oscillation signal. A brake control is coupled to a vehicle brake and is associated with a trailer brake. A controller is coupled to a stability control system and brakes one or more of the vehicle brake and the trailer brake and in response to the oscillation signal.

A control system for controlling one or more torque generating devices on a heavy-duty vehicle comprising a primary sensor system with a primary sensor control unit configured to interpret an output signal of the primary sensor system, wherein the primary sensor control unit is configured to determine a first load value associated with the heavy-duty vehicle, and one or more tire sensor devices mounted on one or more tires of the heavy-duty vehicle, and a tire sensor control unit configured to interpret an output signal of the one or more tire sensor devices, wherein the tire sensor control unit is configured to determine a second load value associated with the heavy-duty vehicle, wherein the control system is arranged to base control of the heavy-duty vehicle on the second load value in case of malfunction in the primary sensor system and/or in the primary sensor control unit.

A motion control system for controlling one or more torque generating devices on a heavy-duty vehicle, the system comprising a primary sensor system with a primary sensor control unit configured to interpret an output signal of the primary sensor system, one or more tire sensor devices mounted on, in, or in connection to, one or more tires of the heavy-duty vehicle, and a tire sensor control unit configured to interpret an output signal of the one or more tire sensor devices, wherein the motion control system is arranged to base motion control of the heavy-duty vehicle on output data of the tire sensor control unit in case of malfunction in the primary sensor system and/or in the primary sensor control unit, and on output data of the primary sensor control unit otherwise.

A vehicle arrangement for braking comprising at least a first electric motor comprising a first shaft being arranged to be mechanically connected to a drive shaft of the vehicle via a gearbox, and a braking compressor comprising a compressor shaft being arranged to be mechanically connected to the first shaft of the first electric motor via a compressor clutch, such that the first shaft drives the compressor shaft, wherein the first shaft is connected to the gearbox via a first motor clutch and a first gearbox shaft, the arrangement further comprising a mass flow rate controlling means arranged for controlling the air mass flow rate through the compressor. A method for controlling a vehicle arrangement, a method for braking a shaft of an electric motor, a control unit, a vehicle, a computer program and to a computer readable medium.

A method decelerates a vehicle combination of a tractor vehicle and a trailer vehicle that has a trailer braking system. A brake control unit of a tractor vehicle braking system monitors the braking behavior of the tractor vehicle or vehicle combination and adjusts the brake pressure at the wheel brakes of the corresponding wheels of the tractor vehicle and a trailer brake pressure. The brake control unit detects a driver deceleration request to a retarder system and, during activation of the retarder system, monitors whether a predefined safety criterion is met, on the basis of a continually determined braking state variable. After a request to the retarder system by the driver, the stability of the vehicle combination is ensured in that, when the safety criterion is met, a portion of the deceleration request to the retarder system yet to be effectuated is effectuated by the trailer braking system.