A vehicle comprising a safety device comprising a supporting member having a first end provided with a joint part which is pivotally mounted on a side wall of the vehicle, and a second end configured to bear on the ground. The vehicle further comprises an actuator connected to the supporting member and configured to move it relative to the vehicle between an inactive position in which the supporting member is located along the vehicle side wall, with the second end at a distance from the ground, and a safety position in which the supporting member extends between the vehicle side wall and the ground, to limit vehicle roll by means of the second end bearing on the ground.

A communication system for a vehicle comprises a mechanism for sensing a motion status of a vehicle, a control device, plurality of data acquisition sensors, and one or more alerting device activation circuits. The communication system is customizable with the plurality of data acquisition sensors and one or more alerting device activation circuits based upon the needs of the vehicle.

An inclination angle calculation device comprises a motion detector for detecting motions of a traveling object during travel, in two directions included in a cross-section surface of the traveling object, the two directions being orthogonal with each other; and an arithmetic unit for calculating an inclination angle of the traveling object during travel in the cross-section surface, using a frequency of the motion in one of the two directions and a rolling frequency in the other direction of the two directions.

A method for determining the inclined position, includes using a sensor, whose measuring axis is inclined by a pitch angle with respect to the longitudinal axis of the vehicle, a rate of rotation having a roll rate component and a yaw rate component is measured. Ultimately, a roll angle for describing the inclined position of the vehicle is ascertained from the rate of rotation.

A method for stabilizing a vehicle (100) in which the vehicle (100) has a roll stabilizer (120), which is designed to stabilize a first axle (101) and a second axle (102) as a function of a roll torque distribution between the first axle (101) and the second axle (102). The method comprises a step of determining a sideslip angle index from a difference between a transverse acceleration calculated from a yaw rate of the vehicle (100) and a speed of the vehicle (100), and a detected transverse acceleration of the vehicle (100). The sideslip angle index is related to a sideslip angle of the vehicle (100). The method also comprises a step of generating a control signal (160) using the sideslip angle index. The control signal (160) is suitable for adjusting the roll torque distribution of the roll stabilizer (120) as a function of the determined sideslip angle index.

An embodiment method of controlling steering and a speed of each wheel of a vehicle based on a center of turning includes calculating a center point of turning of the vehicle based on driving information of the vehicle, calculating a radius of turning of the vehicle, a steering angle of each wheel, and a radius of turning of each wheel based on the center point of turning, calculating a power frequency of each wheel based on the radius of turning and a required speed, and outputting the steering angle of each wheel into a corresponding steering device and applying power at the power frequency of each wheel to a corresponding in-wheel motor during a period of time during which the vehicle is moved based on the steering angle of each wheel and the power frequency of each wheel.

In a method for stabilizing a two-wheeled vehicle during cornering, a drifting of the rear wheel or an understeering of the front wheel is inferred on the basis of measured values including the actual steering angle, and the two-wheeled vehicle is stabilized by altering the torque at the front wheel and/or the rear wheel.

Methods, devices and apparatuses pertaining to stability control of a bicycle. A method may involve a control system associated with a bicycle monitoring one or more parameters related to a movement of the bicycle. The method may also involve the control system detecting an impending occurrence of an event based on the monitoring. The method may further involve the control system adjusting one or more operations related to the movement of the bicycle, including braking of the bicycle, to prevent the occurrence of the event.

A method of angle estimation for use in a vehicle which is travelling on a surface. The vehicle includes a vehicle body having a first axis and being attached to at least two wheels. The method includes the steps of: providing a first height sensor for measuring h.sub.1, the height of the vehicle body with respect to the first wheel; providing a second height sensor for measuring h.sub.2, the height of the vehicle body with respect to the second wheel; providing a surface angle sensor for measuring .sub.road, the angle of the surface in relation to a horizontal plane; measuring the values of h.sub.1, h.sub.2 and .sub.road; using the values of h.sub.1 and h.sub.2 to calculate .sub.rel, the angle of the vehicle body relative to the surface; and calculating an estimate of .sub.glob, the angle between the first axis and the horizontal plane, from .sub.road and .sub.rel.

A grounds maintenance system comprising: a robot tractor comprising; a robot body; a drive system including one or more motorized drive wheels to propel the robot body; a control system coupled to the drive system, the control system configurable to store a mow plan that specifies a set of paths to be traversed for a grounds maintenance operation and control the drive system to autonomously traverse the set of paths to implement the mow plan; a battery system comprising one or more batteries housed in the robot body; and a low-profile mowing deck coupled to the robot body, the mowing deck adapted to tilt and lift relative to the robot body, wherein the control system is configured to control tilting and lifting of the mowing deck and cutting by the mowing deck.