A method for determining a tyre normal force range (F.sub.z,min, F.sub.z,max) of a tyre force (F.sub.z) acting on a vehicle (100), the method comprising; obtaining (S1) suspension data (310) associated with a suspension system of the vehicle (100); obtaining (S2) inertial measurement unit, IMU, data (320) associated with the vehicle (100); estimating (S3), by a suspension-based estimator (330) a first tyre normal force range (F.sub.z1,min, F.sub.z1,max) based on the suspension data (310); estimating (S4), by an inertial force-based estimator (340), a second tyre normal force range (F.sub.z2,min, F.sub.z2,max)based on the IMU data (320); and determining (S5) the tyre normal force range (F.sub.z,min, F.sub.z,max) based on the first tyre normal force range (F.sub.z1,min, F.sub.z2max) and on the second tyre normal force range (F.sub.z2,min, F.sub.z2,max).

A stably braking system and a method using the same control wheels on a single axle of a ground vehicle. Firstly, at least one of a wheel deceleration and an actual slip of each of the wheels is calculated.

Hydraulic control commands are generated when a braking operation is performed in response to a braking indication signal and it is detected that the wheel deceleration or the actual slip is higher. The hydraulic control commands are configured to control a hydraulic braking system to adjust the wheel speed. When the ground vehicle drives in a straight line or turns with a first pose physical quantity, the hydraulic control command with a low priority is replaced by the hydraulic control command with a high priority and the hydraulic braking system is controlled to adjust the wheel speeds based on the identical hydraulic control commands.

A method for determining the values of parameters for a controller of a vehicle, wherein respective error measures are calculated for different sets of values and a set of values is selected based on the error measures.

Systems, methods, and other embodiments described herein relate to emergency lateral maneuvers using brake-induced tire sliding. In one embodiment, a method includes determining a vehicle state for a vehicle according to sensor data about a surrounding environment. The method includes computing, using the sensor data and the vehicle state, lateral accelerations that are yaw-free for the vehicle. The method includes, in response to detecting that the vehicle state is associated with an emergency event, selecting a maneuver from the lateral accelerations. The method includes controlling the vehicle according to the maneuver.

Systems and methods for controlling a vehicle using operational constraints, including friction estimates are disclosed. Friction estimation include estimating a tire-road coefficient of friction using bins and envelopes. Bounding envelopes are configured to ensure that stability of the vehicle is maintained. The friction estimate is used to define the bounding envelopes. Further, the bounding envelopes are received as feedback into the friction estimation, itself. Based on the bounding envelope, the friction estimation can be adjusted. Then, the adjusted friction estimation can be fed back to reshape the bounding envelopes. Multiple bins can be used to evaluate an operating range of friction. Each bin can be used to compare actual vehicle dynamics with expected dynamics based on the estimation using the range assigned to that bin. Multiple bins and multiple controllers can run in parallel to re-estimate friction considering the vehicle dynamics over time.

A stably braking system and a method using the same control wheels on a single axle of a ground vehicle. Firstly, at least one of a wheel deceleration and an actual slip of each of the wheels is calculated. Hydraulic control commands are generated when a braking operation is performed in response to a braking indication signal and it is detected that the wheel deceleration or the actual slip is higher. The hydraulic control commands are configured to control a hydraulic braking system to adjust the wheel speed. When the ground vehicle drives in a straight line or turns with a first pose physical quantity, the hydraulic control command with a low priority is replaced by the hydraulic control command with a high priority and the hydraulic braking system is controlled to adjust the wheel speeds based on the identical hydraulic control commands.

A device 10 for controlling a vehicle 1 includes: a sensor 20 configured to detect a rudder angle; a calculation part 40a configured to calculate a target braking force for making a pitch angle equal to a target pitch angle, the target braking force increasing as the rudder angle increases; a determination part 40b configured to determine whether a steering action is in a steady state; a correction part 40c configured to correct the target braking force to be reduced by an offset amount when it is determined that the steering action is in a steady state; and an actuator 30 configured to apply the corrected target braking force to the vehicle.

A method for vehicle driver habituation to slippery road condition. The method includes detecting a braking parameter indicative of driver invoked vehicle braking demand and/or one or more lateral acceleration parameters indicative of driver invoked vehicle lateral acceleration demand. The method further includes controlling the vehicle braking system to trigger vehicle skidding and/or reduced braking performance for simulating driving on slippery road behaviour when said braking parameter, said lateral acceleration parameter or a combination of said braking parameter and said lateral acceleration parameter: exceeds a threshold value, or is estimated would have resulted in vehicle skidding and/or reduced braking performance if the vehicle would have been driving with a low traction tire grip corresponding to a slippery road condition.

A method for operating a brake system of a motor vehicle. The motor vehicle has a vehicle body and multiple wheels mounted relative to the vehicle body by a wheel suspension on the vehicle body. The vehicle body is capable of executing a pitching movement by the wheel suspension. The brake system has a wheel-individual wheel brake for at least some of the wheels. A pitch angle of the vehicle body is monitored, and the wheel brakes are actuated as a function of the acquired pitch angle. The pitch angle is calculated as a function of normal forces acting on the wheels.

An aircraft or other vehicle includes a system and method for selectively allocating which friction brakes of a plurality of friction brakes are utilized in response to a braking demand. Said differently, the present disclosure provides a system and method that includes dynamically switching which friction brakes of a plurality of friction brakes are active (e.g., in use) at a given time in response to a braking demand. This dynamic switching may not only be based on the received braking demand (e.g., from a pilot or auto-braking module), but may also be based on one or more of the following: respective measured brake parameters of the plurality of friction brakes (e.g., temperature, extent-of-wear), aircraft parameters, external parameters, and respective calculated brake conditions.