A method for controlling axle load distribution of a heavy-duty vehicle during a maneuver, wherein the heavy-duty vehicle comprises a number of wheel axles and one or more motion support devices arranged to adjust a relative axle load of one or more wheel axles of the number of wheel axles, the method comprising obtaining a vehicle model and a tire model, wherein the vehicle model and the tire model are jointly configured to predict a tire scrubbing force in dependence of a vehicle state comprising a relative axle load distribution during the maneuver, determining a nominal tire scrubbing force for a current relative axle load distribution, determining an improved relative axle load distribution maneuver associated with a reduced tire scrubbing force compared to the nominal tire scrubbing force, and controlling the one or more motion support devices to provide the improved relative axle load distribution during the maneuver.

Systems and methods for load monitoring and/or braking control. The load monitoring may include calculating a weight on one or more axles of a vehicle or a trailer using cross-flow pressure information indicative of an air pressure within a cross-flow passage between first and second leveling valves of first and second pneumatic circuits configured to adjust independently heights on first and second sides, respectively, of the vehicle or the trailer. The braking control may include (i) using the cross-flow pressure and speed and/or acceleration information indicative of a speed and/or acceleration of the vehicle and/or the trailer to calculate first and second brake application levels and (ii) applying the calculated first and second brake application levels to first and second brakes on the first and second sides, respectively, of the vehicle or the trailer.

Methods, apparatus, systems and articles of manufacture are disclosed to perform a tank turn. An example apparatus includes programmable circuitry to determine that a first brake associated with a first wheel is engaged and a second brake associated with a second wheel is engaged, the first wheel located on an end of a first axle of a vehicle, the second wheel located on an end of a second axle of the vehicle, the end of the first axle opposite to the end of the second axle, cause a first suspension to decrease a first suspension load of the first wheel, cause a second suspension to decrease a second suspension load of the second wheel, cause a first motor to drive the first axle in a first direction, and cause a second motor to drive the second axle in a second direction, the second direction different from the first direction.

Techniques are described for determining weight distribution of a vehicle. A method of performing autonomous driving operation includes determining a vehicle weight distribution that values for each axle of the vehicle that describe weight or pressure applied on a respective axle. The values of the vehicle weight distribution are determined by removing at least one value that is outside a range of pre-determined values from a set of sensor values. The method further includes determining a driving-related operation of the vehicle weight distribution. For example, the driving-related operation may include determining a braking amount for each axle and/or determining a maximum steering angle to operate the vehicle. The method further includes controlling one or more subsystems in the vehicle via an instruction related to the driving-related operation. For example, transmitting the instruction to the one or more subsystems causes the vehicle to perform the driving-related operation.

Systems and apparatuses include a hydraulic suspension system including a front suspension actuator, and a front suspension pressure sensor associated with the front suspension actuator; a tire inflation system; and one or more processing circuits comprising one or more memory devices coupled to one or more processors, the one or more memory devices configured to store instructions thereon that, when executed by the one or more processors, cause the one or more processors to: determine a dynamic weight based on information received from the front suspension pressure sensor of the hydraulic suspension system, determine a current front axle lead ratio based on the dynamic weight, determine a target front axle lead ratio, and control operation of the tire inflation system to adjust from the current front axle lead ratio to the target front axle lead ratio.

A weight estimation device for a vehicle includes a storage unit storing a weight calculation information indicating a correspondence between an internal pressure value of an air spring supporting a vehicle body and a vehicle height serving as a height of the vehicle body from a base, a measured value acquisition unit acquiring a measured internal pressure value and a measured vehicle height, an internal pressure value calculation unit calculating a corrected internal pressure value of the air spring by deducting or adding a corrected value from or to the measured internal pressure value in a case where the measured internal pressure value is greater or smaller than the internal pressure value of the weight calculation information which corresponds to the measured vehicle height, and a weight calculation unit calculating a weight of a supported body, including the vehicle body, based on the corrected internal pressure value.

A weight estimation device for a vehicle includes a storage unit storing a weight calculation information indicating a correspondence between an internal pressure value of an air spring supporting a vehicle body and a vehicle height serving as a height of the vehicle body from a base, a measured value acquisition unit acquiring a measured internal pressure value and a measured vehicle height, an internal pressure value calculation unit calculating a corrected internal pressure value of the air spring by deducting or adding a corrected value from or to the measured internal pressure value in a case where the measured internal pressure value is greater or smaller than the internal pressure value of the weight calculation information which corresponds to the measured vehicle height, and a weight calculation unit calculating a weight of a supported body, including the vehicle body, based on the corrected internal pressure value.

A work vehicle includes a chassis, an axle assembly, an actuator, a parking brake, and a controller. The axle assembly is coupled to the chassis. The actuator is coupled to the chassis and the axle assembly. The actuator is configured to transition the axle assembly between a raised position and a lowered position. The controller includes a processor and a memory. The controller is configured to generate signals to determine a vehicle state based on data representing at least one of a vehicle load, a vehicle location, and a vehicle operating condition; and operate the actuator to transition the axle assembly between the raised position and the lowered position based on the vehicle state.

A ground movement system for a land transport vehicle (2) capable of levitating, the vehicle having a plurality of wheels including at least one actuated wheel (3), a drive device (6) for driving the actuated wheel and/or a brake (8) for braking the actuated wheel (3), a vertical positioning actuator (9) arranged to move the actuated wheel (3) vertically relative to a fuselage of the vehicle (2), and control means arranged to act, during an acceleration stage and/or during a braking stage of the vehicle, to control the vertical positioning actuator (9) as to adjust the vertical position of the actuated wheel in order to increase the load carried by the actuated wheel and thus increase the maximum force that can be transmitted to the ground by the actuated wheel so as to increase the maximum drive and/or braking torque that can be produced by the drive device (6) and/or by the brake (8) without the actuated wheel (3) skidding or slipping.

A system and method are provided for configuring suspension ratios in a multi-rear axle vehicle, the vehicle having a drive axle suspension and at least one tag axle suspension, each suspension having one or more air springs. The timing of the performance of an adjustment cycle series of steps for adjusting the suspension height and air spring pressure readings is optimized by monitoring the acceleration of the vehicle and conducting the adjustment cycle steps when the vehicle acceleration is below an acceleration threshold. Additionally, air spring pressure adjustments may be scaled based on a confidence factor of the air spring pressure readings. Finally, a method is provided for configuring suspension ratios in a multi-rear axle vehicle, the vehicle having a drive axle suspension and at least one tag axle suspension, and for adjusting the air suspension pressures.