There is disclosed a control system for controlling braking of wheels in a towed vehicle comprising: an electric drum brake associated with at least one wheel of the towed vehicle for applying a braking force to the towed vehicle, the electric drum brake having at least one electro magnet for controlling application of the braking force; and a computer controller electrically coupled to each electric drum brake; wherein, the at least one electro-magnet generates an electric field through which a geometric or magnetic variation present in the electric drum brake passes through upon rotation of the wheel, the computer controller being configured to detect a response signal generated by the passing of the geometric or magnetic variation through the electric field, the response signal being indicative of the state of motion of the wheel.

A brake system includes an electromechanical brake having a friction surface, a lining support having a brake lining, an electric motor for moving the lining support, and a control and monitoring unit. The control and monitoring unit ascertains, from a first value ascertained during a first movement of the lining support by the electric motor, an operating parameter of at least one part of the brake, and a second value ascertained during a second movement opposite to the first movement of the lining support, by the electric motor, an operating behavior value for a real operating behavior of the relevant brake, and ascertains, by comparing the at least one real operating behavior value to at least one stored operating behavior expectation, a correction factor. The brake control system is corrected by the one correction factor and a regulator of the electric motor is activated using the corrected brake control signal.

A brake system includes an electromechanical brake having a friction surface, a lining support having a brake lining, an electric motor for moving the lining support, and a control and monitoring unit. The control and monitoring unit ascertains, from a first value ascertained during a first movement of the lining support by the electric motor, an operating parameter of at least one part of the brake, and a second value ascertained during a second movement opposite to the first movement of the lining support, by the electric motor, an operating behavior value for a real operating behavior of the relevant brake, and ascertains, by comparing the at least one real operating behavior value to at least one stored operating behavior expectation, a correction factor. The brake control system is corrected by the one correction factor and a regulator of the electric motor is activated using the corrected brake control signal.

An Anti-lock Braking System and control method are disclosed. The control method is performed after a control module intervenes a vehicle's braking system and comprises: receiving a wheel speed signal of a wheel and a vehicle acceleration signal; computing a tire-slip feedback value according to the wheel speed signal of the wheels and the vehicle acceleration signal; generating a feedback control voltage according to a tire-slip difference between a tire-slip target value and the tire-slip feedback value; generating a tire-slip compensation value by performing a differential compensation to the tire-slip feedback value; obtaining a feedforward voltage according to the tire-slip compensation value via a look-up table approach; generating a braking control voltage by adding the feedback control voltage to the feedforward voltage; and outputting the braking control voltage to a proportioning-valve brake, such that the proportioning-valve brake adjusts a braking pressure according to the braking control voltage.

An Anti-lock Braking System and control method are disclosed. The control method is performed after a control module intervenes a vehicle's braking system and comprises: receiving a wheel speed signal of a wheel and a vehicle acceleration signal; computing a tire-slip feedback value according to the wheel speed signal of the wheels and the vehicle acceleration signal; generating a feedback control voltage according to a tire-slip difference between a tire-slip target value and the tire-slip feedback value; generating a tire-slip compensation value by performing a differential compensation to the tire-slip feedback value; obtaining a feedforward voltage according to the tire-slip compensation value via a look-up table approach; generating a braking control voltage by adding the feedback control voltage to the feedforward voltage; and outputting the braking control voltage to a proportioning-valve brake, such that the proportioning-valve brake adjusts a braking pressure according to the braking control voltage.

A motion support device, MSD, control unit for a heavy duty vehicle, configured to control one or more MSDs associated with a wheel on the vehicle, wherein the MSD control unit is configured to be communicatively coupled to a vehicle motion management, VMM, unit for receiving control commands from the VMM unit comprising wheel speed and/or wheel slip requests to control vehicle motion by the one or more MSDs. The MSD control unit is configured to obtain a capability range indicating a range of wheel behaviors of the wheel for which the VMM unit is allowed to influence the behavior of the wheel by the control commands, monitor wheel behavior and to detect if wheel behavior is outside of the capability range, and trigger a control intervention function in case the monitored wheel behavior is outside of the capability range.

A motion support device, MSD, control unit for a heavy duty vehicle, configured to control one or more MSDs associated with a wheel on the vehicle, wherein the MSD control unit is configured to be communicatively coupled to a vehicle motion management, VMM, unit for receiving control commands from the VMM unit comprising wheel speed and/or wheel slip requests to control vehicle motion by the one or more MSDs. The MSD control unit is configured to obtain a capability range indicating a range of wheel behaviors of the wheel for which the VMM unit is allowed to influence the behavior of the wheel by the control commands, monitor wheel behavior and to detect if wheel behavior is outside of the capability range, and trigger a control intervention function in case the monitored wheel behavior is outside of the capability range.

The present disclosure relates to a braking control device that executes an anti-skid control for reducing a braking force when a difference between a target deceleration and an actual deceleration of a vehicle is greater than or equal to a reference value in a braking state in which the braking force is applied to a wheel according to an increase in the target deceleration of the vehicle, the braking control device including a control unit that executes a specific control for reducing an intervention degree of the anti-skid control as a response delay of the actual deceleration with respect to the increase in the target deceleration in the braking state becomes larger.

A system for braking a trailer pulled by a vehicle. A trailer braking system is provided on a trailer. An electrically actuated motor drives a worm screw against a worm gear. The worm gear drives a brake actuator to push brake pads into a rotor coupled a wheel on the trailer. A wheel speed monitor reduces braking force of the trailer braking system in response to a predetermined change in wheel speed. An anti-lock braking system reduces trailer wheel skid under braking. Multiple trailer braking systems can be applied to multiple wheels on the trailer to provide more or less braking.

A system for braking a trailer pulled by a vehicle. A trailer braking system is provided on a trailer. An electrically actuated motor drives a worm screw against a worm gear. The worm gear drives a brake actuator to push brake pads into a rotor coupled a wheel on the trailer. A wheel speed monitor reduces braking force of the trailer braking system in response to a predetermined change in wheel speed. An anti-lock braking system reduces trailer wheel skid under braking. Multiple trailer braking systems can be applied to multiple wheels on the trailer to provide more or less braking.