A vehicle includes a powerplant, such as an engine, configured to power front and rear wheels, and a controller. The controller is programmed to, brake a first of the front wheels and a first of the rear wheels while powering a second of the front wheels and a second of the rear wheels to warm those tires, and subsequently brake the second front wheel and the second rear wheel while powering the first front wheel and the first rear wheel to warm those tires.

A method for operating an at least semi-automated mobile platform which includes wheels, a braking system, and an acceleration sensor that generates acceleration values. The braking system, using a holding force, cooperates with the wheels in such a way that the platform is selectively fixed in a position. Each wheel includes a rotation angle sensor that generates a signal pulse based on a rotational position of the wheel. The method includes: reducing an initial holding force of the wheels, corresponding to an initial value of a control gradient; controlling the control gradient based on the acceleration values when the rotation angle sensor of a wheel has generated a first signal pulse; increasing the holding force of at least one of the wheels corresponding to a fixation gradient when the rotation angle sensor of a set of further wheels of the wheels has generated a signal pulse, to fix the platform.

A method for operating an at least semi-automated mobile platform which includes wheels, a braking system, and an acceleration sensor that generates acceleration values. The braking system, using a holding force, cooperates with the wheels in such a way that the platform is selectively fixed in a position. Each wheel includes a rotation angle sensor that generates a signal pulse based on a rotational position of the wheel. The method includes: reducing an initial holding force of the wheels, corresponding to an initial value of a control gradient; controlling the control gradient based on the acceleration values when the rotation angle sensor of a wheel has generated a first signal pulse; increasing the holding force of at least one of the wheels corresponding to a fixation gradient when the rotation angle sensor of a set of further wheels of the wheels has generated a signal pulse, to fix the platform.

A method is disclosed for controlling brake forces of a working machine, the working machine including a frame and two front wheels and two rear wheels mounted to the frame, the working machine further including a front wheel brake arranged to brake at least one of the front wheels, and a rear wheel brake arranged to brake at least one of the rear wheels, the front wheel brake being controllable independently of the rear wheel brake, and vice versa, the working machine further including an implement connected to the frame so as to be movable in relation to the frame. The method includes determining a position of the implement in relation to the frame, and distributing the brake forces between the front and rear wheel brakes at least partly based on the determined implement position.

A method is disclosed for controlling brake forces of a working machine, the working machine including a frame and two front wheels and two rear wheels mounted to the frame, the working machine further including a front wheel brake arranged to brake at least one of the front wheels, and a rear wheel brake arranged to brake at least one of the rear wheels, the front wheel brake being controllable independently of the rear wheel brake, and vice versa, the working machine further including an implement connected to the frame so as to be movable in relation to the frame. The method includes determining a position of the implement in relation to the frame, and distributing the brake forces between the front and rear wheel brakes at least partly based on the determined implement position.

Provided is a control apparatus, a control method, and a control system for an electric vehicle that can prevent or reduce an unnecessary torque fluctuation on a wheel not targeted for slip control. A control apparatus for an electric vehicle limits a torque to be output to a non-target wheel according to a torque output to a target wheel after target wheel slip control is started, and updates a limit value of the torque to be output to the non-target wheel when a fluctuation range of the torque output to the target wheel falls within a predetermined range during the limitation.

A motor vehicle controller configured to: receive a drive demand signal indicating an amount of net drive to be applied to one or more driving wheels of a vehicle, estimate a value of a parameter indicative of a surface coefficient of friction between one or more driving wheels and a driving surface, and apply a net torque to one or more wheels of a vehicle. The amount of net torque applied is determined in dependence at least in part on the received drive demand signal. The controller is configured to increase an amount of net torque applied to one or more driving wheels independently of the drive demand signal and to update an estimate of the parameter in dependence on a change in speed of the at least one driving wheel when the amount of net torque applied to the at least one driving wheel is increased.

A motor vehicle controller configured to: receive a drive demand signal indicating an amount of net drive to be applied to one or more driving wheels of a vehicle, estimate a value of a parameter indicative of a surface coefficient of friction between one or more driving wheels and a driving surface, and apply a net torque to one or more wheels of a vehicle. The amount of net torque applied is determined in dependence at least in part on the received drive demand signal. The controller is configured to increase an amount of net torque applied to one or more driving wheels independently of the drive demand signal and to update an estimate of the parameter in dependence on a change in speed of the at least one driving wheel when the amount of net torque applied to the at least one driving wheel is increased.

An off-road vehicle has two front wheels and two rear wheels, the rear wheels being connected to a spool gear driven by a motor. The vehicle also has a left front brake, a right front brake and a single rear brake. Speeds of left and right front wheels are respectively monitored by left and right front speed sensors. A single sensor monitors a common speed of left and right rear wheels. Two user actuated braking input devices, for example a hand lever and a foot lever, may be used independently or concurrently to provide a braking command. An anti-lock braking system may use speed measurements from the various speed sensors to control selective application of pressure on the left front brake, the right front brake and the rear brake.

A vehicle has a frame, a straddle seat, front right and left wheels, a rear wheel, a steering assembly, a motor, front right and left brakes, a rear brake, and an electronic brake control unit. The electronic brake control unit has a pump, a valve box, a first pressure sensor disposed in the valve box and an electronic controller. The electronic controller is electronically connected to the pump, and valves of the valve box for controlling their operation. A hand brake lever actuates a first master cylinder and thereby actuates the front brakes through the valve box. A foot brake lever actuates a second master cylinder and thereby actuates the rear brake through the valve box. A second pressure sensor is disposed externally of the valve box. The first and second pressure sensors sensing fluid pressure applied by the first and second master cylinders respectively.