A method for controlling propulsion of a heavy-duty vehicle includes. configuring a nominal shaft slip of the drive shaft in dependence of a desired longitudinal wheel force to be generated by the driven axle, wherein a shaft slip is indicative of a difference between a current vehicle velocity and a vehicle velocity corresponding to the rotation speed of the drive shaft, obtaining a rotation speed of the left wheel and a rotation speed of the right wheel, as function of a current shaft slip of the driven axle, estimating a peak shaft slip value associated with an open differential peak longitudinal force of the driven axle, based on the current shaft slip and on the corresponding obtained speeds of the left and right wheels, and controlling propulsion of the heavy-duty vehicle unit by setting the current shaft slip of the drive shaft based on the configured nominal shaft slip adjusted in dependence of the estimated peak shaft slip value.

A trailer braking device includes a trailer having an axle, a pair of hubs each rotatably attached to the axle, and a pair of wheels each removably attached to a respective one of the hubs. A plurality of wheel brakes is each integrated into a respective one of the hubs and a pair of wheel speed sensors is each integrated into a respective one of the hubs. A control unit is attached to the trailer and the control unit is in communication with each of the wheel brakes and each of the wheel speed sensors. The control unit actuates a respective one of the wheel brakes when the wheel speed sensor associated with the respective wheel brake communicates that a rotational speed of the hub associated with the respective wheel brake has begun to oscillate. In this way the trailer is inhibited from beginning to sway while being towed.

A trailer braking device includes a trailer having an axle, a pair of hubs each rotatably attached to the axle, and a pair of wheels each removably attached to a respective one of the hubs. A plurality of wheel brakes is each integrated into a respective one of the hubs and a pair of wheel speed sensors is each integrated into a respective one of the hubs. A control unit is attached to the trailer and the control unit is in communication with each of the wheel brakes and each of the wheel speed sensors. The control unit actuates a respective one of the wheel brakes when the wheel speed sensor associated with the respective wheel brake communicates that a rotational speed of the hub associated with the respective wheel brake has begun to oscillate. In this way the trailer is inhibited from beginning to sway while being towed.

The disclosure relates to a sensor assembly for a vehicle, comprising: a speed sensor for each vehicle wheel that detects an rpm-dependent and/or rotational-speed-dependent physical variable, which is used to ascertain speed information; a primary control unit, which analyses the speed information to perform first braking functions; and a secondary control unit, which analyses the speed information to perform second braking functions. A control unit is positioned close to each of the vehicle wheels, and is connected to the speed sensor associated with the corresponding wheel and receives a sensor signal and determines the speed information for the corresponding vehicle wheel, the primary control device and a further control device receiving the speed information for analysis in real time, and the control devices making the speed information available in the form of first sensor data to a central network over a databus for distribution in the vehicle.

A method of operating a brake system for a motor vehicle, the brake system has a parking brake device and actuating the parking brake device for generating a parking braking force on a wheel of the motor vehicle is only permitted if a speed value falls below a speed threshold value. As such, the speed value is determined from a measured speed value corresponding at least temporarily to a speed of the motor vehicle. If the measured speed value falls below the speed value, the speed value is made to track the measured speed value with a speed gradient limited to a speed gradient limit value.

A method of operating a brake system for a motor vehicle, the brake system has a parking brake device and actuating the parking brake device for generating a parking braking force on a wheel of the motor vehicle is only permitted if a speed value falls below a speed threshold value. As such, the speed value is determined from a measured speed value corresponding at least temporarily to a speed of the motor vehicle. If the measured speed value falls below the speed value, the speed value is made to track the measured speed value with a speed gradient limited to a speed gradient limit value.