A vehicle dynamics control system receives a feedback state signal including values of a roll rate and a roll angle of the motion of the vehicle and updates parameters of a model of roll dynamics of the vehicle by fitting the received values into the roll dynamics model. The roll dynamics model explains the evolution of the roll rate and the roll angle based on the parameters including a center of gravity (CoG) parameter modeling a location of a CoG of the vehicle, and a spring constant and a damping coefficient modeling suspension dynamics of the vehicle. The system determines a control command for controlling at least one actuator of the vehicle using a motion model including the updated CoG parameter and submits the control command to the vehicle controller to control the motion of the vehicle.

A center of gravity estimation device includes a tilt cylinder pressure sensor detecting a pressure on a rod side of the tilt cylinder, a tilt cylinder pressure sensor detecting a pressure on a bottom side of the tilt cylinder, a lift cylinder pressure sensor detecting a pressure of a lift cylinder, and an electronic control unit performing estimation calculation of a center of gravity of a cargo W loaded on a fork using the pressure on the rod side of the tilt cylinder, the pressure on the bottom side of the tilt cylinder, the pressure of the lift cylinder, and data on a structure of a cargo handling device.

An apparatus and method for controlling articulation of an articulated vehicle may prevent jackknifing of the articulated vehicle driven backwards. The apparatus includes a hitch angle calculator configured to calculate a desired hitch angle based on a steering angle and a speed of the articulated vehicle, an error calculator configured to calculate an error between the desired hitch angle and an actual hitch angle of the articulated vehicle, a moment generator configured to generate a moment for controlling the articulation of the articulated vehicle based on the error, and an articulation controller configured to control the articulation of the articulated vehicle based on the moment.

According to an aspect, there is provided a computer-implemented method for condition monitoring of a vehicle. The method comprises applying a dynamic model associated with a vehicle (800), the dynamic model having been determined by obtaining status information from at least one information bus of the vehicle, the status information providing real-time status information about the vehicle (200), obtaining, based on vehicle identity information, vehicle dynamics information (202), obtaining map data representing road characteristics of roads of a geographical area, the map data comprising two-dimensional road map data, three-dimensional road map associated with the roads, and road characteristics data (204), analyzing behavior of the vehicle based on the status information and the vehicle dynamics information (206), and computing a dynamic model for the vehicle by comparing the behavior of the vehicle to the map data (208); analyzing historical changes in at least one calibration parameter associated with the dynamic model of the vehicle (802); analyzing effects of the three-dimensional road map associated with the roads and the road characteristics data in at least one position on the behavior of the vehicle (804); and determining, based on the analyzed historical changes and the effects, at least one change in at least one vehicle characteristic (806).

An apparatus that detects a tilt, lean, movement and/or rotation and/or change in tilt, lean, position and/or rotation of a user, rider, and/or payload which may use sensors configured to accomplish this detection, where sensors may be on, embedded in and/or attached to a structural device, strap, and/or surface of a vehicle, structure or system, where an apparatus of the present invention may be on, part of, in, attached to or connected to a vehicle, structure or system where detecting, measuring and/or determining a lean, tilt, movement and/or rotation or change thereof, of a user, rider, and/or payload, may be desirable; position or movement and/or center of mass or change thereof may be calculated, or detected; calculations, measurements, metrics or detections from the present invention may be an output or the only output of an apparatus that is an embodiment of the present invention.

Provided is a weight estimation system (S) including: a change amount calculation device (2) which acquires a height of a loading platform (N) before loading a vehicle and a height of the loading platform (N) after loading the vehicle and calculates an amount of change between the heights of the loading platform (N) between before and after the loading; and a loaded weight estimation device (4) which estimates a loaded weight on the basis of a correlation between the amount of change and a loaded weight stored in advance.

A hybrid vehicle for anti-rollover through active control of an engine and an anti-rollover control method for the same, may include detecting a roll angle of the vehicle, and when the detected roll angle is equal to or greater than a threshold roll angle, accelerating or decelerating, by a controller, the engine in a state in which the engine clutch is released depending on a direction of the roll angle.

A method for determining the values of parameters for a controller of a vehicle, wherein respective error measures are calculated for different sets of values and a set of values is selected based on the error measures.

An obstacle recognition device, a vehicle system including the same, and a method thereof are provided. The obstacle recognition device includes a storage storing data and an algorithm for calculating a risk probability and a processor configured to execute the algorithm to generate an occupancy grid map based on a sensing value of at least one ultrasonic sensor, calculate the risk probability of each cell on the occupancy grid map, and determine a shape and location of an obstacle based on the risk probability of each cell.

A vehicle control apparatus configured to calculate a center of gravity six-component; calculate a tire three-component of each wheel for two or more wheels of a vehicle imposing a constraint on each wheel expressed as an inequality corresponding to upper and lower limits of the tire three-component; apply the constraint based on whether the constraint is valid or invalid for each of the wheels based on a predetermined optimum-condition for obtaining an optimum-solution under the constraint, and calculating an optimum-solution of the tire three-component of each wheel by performing a tentative-optimum-solution-calculation one or more times until the predetermined optimum-condition is satisfied; and store an application-state of the constraint when the optimum-solution satisfying the predetermined optimum-condition is obtained, and calculate the optimum-solution of the tire three-component of each wheel by using a stored value of the application-state of the constraint, in the next calculation of the optimum-solution.