An arrangement for improving stability of a vehicle combination includes a towing vehicle and at least one towed vehicle, where the at least one towed vehicle includes an actively steered axle and/or individual brake on at least one axle, where the towing vehicle and the at least one towed vehicle each includes a lateral acceleration determining arrangement. A vehicle combination model is adapted for determining a desired delay value between the lateral acceleration of the towing vehicle and the lateral acceleration of the at least one towed vehicle, where the arrangement is adapted to stabilize the at least one towed vehicle by using the determined lateral acceleration of the towing vehicle and the desired delay value for the at least one towed vehicle to establish a desired lateral acceleration for the at least one towed vehicle, and to control the steered axle and/or the individual brake of the at least one towed vehicle such that the determined lateral acceleration of the at least one towed vehicle corresponds to the desired lateral acceleration of the at least one towed vehicle.

A computer-implemented method of determining a torque limit for an operating state of a first vehicle combination is provided. The method includes simulating a plurality of operating states for one or more second vehicle combinations. Each operating state is based on one or more operational parameters related to physical properties of the one or more second vehicle combinations, one or more parameters related to an operating environment of the one or more second vehicle combinations, and one or more parameters related to a driving scenario of the one or more second vehicle combinations. The method includes classifying each of the simulated operating states as safe or unsafe, receiving an unsimulated operating state for the first vehicle combination, and determining a torque limit for the unsimulated operating state based on the simulated operating states.

The disclosed vehicle control device (10) controls outputs of a left driving source (2L) and a right driving source (2R) in a vehicle (1) provided with a left driving system including a left axle (4L) and a left wheel (5L) and a right driving system including a right axle (4R) and a right wheel (5R) and includes: a calculator (11) that calculates an equivalent sum value corresponding to a sum of a left requested torque and a right requested torque and an equivalent difference value corresponding to a difference between the left requested torque and the right requested torque; a sum model that models motion states of the left driving system and the right driving system while the vehicle (1) is running straight, the equivalent sum value being applied to the sum model; a difference model that models motion states of the left driving system and the right driving system while the vehicle (1) is cornering, the equivalent difference value being applied to the difference model; and a controller (12) that controls the outputs, using a sum-mode instruction torque and a difference-mode instruction torque obtained by application to the sum model and the difference model, respectively.

A system for probing properties of a trailer towed by a towing vehicle in a heavy-duty vehicle combination. The system comprises at least one torque generating component for inducing movements of the trailer relative to a yaw axis of the trailer; a control unit configured to, during driving of the vehicle combination, activate the torque generating component and apply a pre-determined control action to the torque generating component so as to excite oscillations of the trailer; and at least one detection unit configured to detect the resulting oscillations of the trailer, wherein the control unit is configured to, based on the detected resulting oscillations, determine one or more properties of the trailer. The invention also relates to a probing method.