A computer includes a processor and a memory storing instructions executable by the processor to determine at least one of a vehicle pitch or a longitudinal center of gravity from data measured while deactivating a first brake for a first axle and applying a second brake for a second axle, and operate the vehicle based on the at least one of vehicle pitch or longitudinal center of gravity. The instructions may further include to determine a vehicle weight from the data, and operate the vehicle based on the vehicle weight.

A method is provided for predicting a risk for rollover of a working machine for load transportation. The method includes: obtaining ground topographic data of a geographical area located close to the working machine from a ground topographic detection system; extracting a ground gradient from the ground topographic data; obtaining weight information of the load being currently transported by means of an on-board load weighting system or by receiving load information originating from the device that loaded the load being currently transported; determining a current maximal allowed ground gradient for the working machine based on the weight information; and predicting a risk for working machine rollover if the working machine approaches a geographical area including a ground gradient exceeding or being close to the current maximal allowed ground gradient for the working machine.

A method and system of controlling a vehicle includes providing a plurality of dynamic state inputs to a controller in the vehicle that is adapted to execute a plurality of control loops and further includes determining an operating mode of the vehicle. Based on the operating mode of the vehicle, a location of an optimum perceived yaw center of the vehicle is determined corresponding to a selected estimation technique using the dynamic state inputs and wherein the estimation technique is selected based upon the determined operating mode of the vehicle. The information related to the location of the optimum perceived yaw center may be used as input for controlling the vehicle in a dynamic state.

A system, method and a device for balancing a vehicle is provided. In one embodiment the system comprises of a control moment gyroscope. In another embodiment two or more control moment gyroscope may be provided. Further, in an embodiment a mechanism to provide stopping of a precession shaft that links the control moment gyroscope to the vehicle is provided. Furthermore, a user operable switch may be provided in an embodiment to stop precession shaft of the control moment gyroscope.

A steering control device 10 is equipped with: a first specification unit 121 for specifying an expected travel position where a vehicle is expected to travel in the traffic lane in which the vehicle is travelling; a second specification unit 122 for specifying information about the weight of the vehicle; an adjustment unit 123 for adjusting the expected travel position in the vehicle-widthwise direction on the basis of the expected travel position of the vehicle and the weight information; and a steering control unit 124 for controlling steering on the basis of the adjusted expected travel position.

A vehicle (2) comprising a working equipment (4), and further comprising: a sensor system (6) configured to capture environmental data reflecting the environment around the vehicle and to determine, based on said data, image data (8) representing an area at least partly surrounding the vehicle (2), and optionally ambient condition data (10), a vehicle data unit (12) configured to determine vehicle data (14) representing characteristics of the vehicle (2), a control unit (16) configured to receive said image data (8), and said vehicle data (14), and optionally said ambient condition data (10), and to determine and generate control signals (18) for controlling said vehicle (2), wherein said control signals (18) comprise driving instructions. The control unit (16) is configured to receive a working task to be performed by the vehicle, wherein said working task includes information of an object (20) for the vehicle (2) to reach when performing said working task. The control unit (16) is configured to: determine a target position (22), being a position based on the location of the object (20) to reach when performing said working task in said image data representation, in relation to said vehicle (2), calculate at least a first path (24) from the vehicle (2) to the target position (22) by applying a set of path calculation rules, and determine driving instructions such that said vehicle (2) is controlled to follow said at least first path (24), wherein said driving instructions are determined in dependence of said image data (8), and vehicle data (14), and optionally said ambient condition data (10), by applying a set of path following rules.

A vehicle control system may include a sensor network sensing vehicle attitude information and a controller operably coupled to the sensor network to determine, based on the vehicle attitude information, movement of a center of gravity of the vehicle relative to an axis of rotation of the vehicle. The controller may further determine a modification to a torque application of the vehicle based on the movement of the center of gravity of the vehicle relative to the axis of rotation of the vehicle.

A method for adjusting an estimated height of the center of gravity (HCOG) value of a vehicle includes concomitant calculations, based on parameters dependent on the HCOG value and parameters independent from the HCOG value. The method further comprises the adjustment of a parameter related to the HCOG value.

A center-of-mass height estimation device includes a roll moment calculation unit for calculating roll moment of a sprung portion in a vehicle on the basis of bearing capacities of left and right suspensions provided on the vehicle, a lateral acceleration measurement unit for measuring lateral acceleration, which is acceleration in a width direction of the vehicle, a mass measurement unit for measuring mass of the sprung portion, a transfer function calculation unit for calculating a transfer function of the roll moment with respect to the lateral acceleration, and a center-of-mass height calculation unit for dividing the gain of the transfer function by the mass of the sprung portion to calculate a height from a roll center of the vehicle to a center of mass of the sprung portion.

A vehicle proposed herein includes a swivel, a lock mechanism selectively locking and unlocking the swivel, a seat mounted on the swivel, a plurality of surface pressure sensors each disposed along an outer surface of the seat and detecting a pressure distribution within a predetermined area of the outer surface, and a controller configured to cause the lock mechanism to be unlocked based on a change in pressure distribution or a surface pressure that is detected by any of the plurality of surface pressure sensors.