A system for a vehicle for controlling/adjusting the wheel behaviour of at least one vehicle wheel comprises at least one unit for determining the wheel vertical force of at least two vehicle wheels which are mounted on the same axle of the vehicle. The system is adapted to determine for each of the at least two vehicle wheels at least one parameter indicative of the wheel behaviour. The system is further adapted to determine, on the basis of the wheel vertical forces determined by the unit for determining the wheel vertical force for the at least two vehicle wheels, at least the vehicle wheel with the higher wheel vertical force. The system is further adapted to set the at least one parameter indicative of the wheel behaviour determined for the at least one vehicle wheel with the higher wheel vertical force as the target value for the vehicle wheel with a lower wheel vertical force.

Apparatus for estimating a grip factor of at least one wheel comprising: a control unit configured to process a current slip angle of said wheel; a storage unit, within which, in a consultation table, a plurality of grip curves correlating a plurality of values of a steering parameter comprising the rack force with a plurality of values of the slip angle are recorded; along a same curve, the value of the grip factor remains unchanged; wherein the control unit is configured to cyclically estimate at least one raw value of the grip factor of said at least one wheel based on the position of a current condition within the consultation table, as a function of the current slip angle and of the current rack force.

A vehicle motion control apparatus includes a control unit which controls a steering apparatus and a brake apparatus provided in a vehicle. The control unit acquires a normative motion state amount necessary for the vehicle to trace a target traveling path, acquires a target motion state amount necessary for generating a yaw moment to cancel unstable behavior of the vehicle, and acquires a target steering angle for generating a steering angle moment and a target brake force for generating a brake moment, to obtain a necessary yaw moment generated by the vehicle. The control unit outputs a first control command for obtaining the target steering angle to the steering apparatus and outputs a second control command for obtaining the target brake force to the brake apparatus.

A method for controlling braking and/or traction of a vehicle is provided. The methods includes determining by the vehicle control unit a desired slip value based on vehicle state parameters, the desired slip value being communicated to the braking control unit and to the traction control unit, measuring or estimating a slip measure or estimation from wheel parameters collected on the at least wheel tire by the sensor, the slip measure or estimation being communicated to the braking control unit and/or to the traction control unit controlling a wheel slip by the braking control unit and by the traction control unit, based on the desired slip value and the slip measure or estimation.

Systems and methods for generating power for a tractor-trailer combination, including: a drop-lift axle coupled to the bottom of the trailer, the drop-lift axle to deploy at least one wheel when a primary brake is applied and the trailer is operating at a predetermined state; at least one regenerative brake retarder coupled to the at least one wheel, the at least one regenerative brake retarder to generate energy when the at least one wheel is deployed, wherein the at least one regenerative brake retarder acts as an auxiliary brake; and an energy storage system configured to store the energy generated by the at least one regenerative brake retarder, the energy storage system to release the stored energy a main battery to power at least one component of the trailer when needed.

A vehicle sideslip estimation system includes sensors mounted on a vehicle and a kinematic model receiving signals from the sensors to estimate a lateral velocity of the vehicle. A compensated acceleration calculator calculates a compensated lateral acceleration as a measure of conditions that result in a deviation of a measured lateral acceleration. A lateral acceleration calculator determines, based on the compensated lateral acceleration and the measured lateral acceleration, if a lateral acceleration error is larger than a predefined threshold. A filter corrects the estimated lateral velocity of the vehicle when the lateral acceleration error is larger than the predefined threshold. A velocity output register registers the estimated lateral velocity of the vehicle when the lateral acceleration error is smaller than the predefined threshold, and a sideslip calculator calculates a sideslip angle of the vehicle in real time from the registered lateral velocity of the vehicle and a vehicle longitudinal velocity.

The present invention obtains a controller and a control method capable of simultaneously achieving freedom of driving and safety of a lean vehicle.

In a controller (60) and the control method according to the present invention, a control section of the controller (60) can execute anti-lock braking operation for suppressing locking of a rear wheel (4) by increasing/reducing a braking force or drive power of the rear wheel (4) of a lean vehicle (100) and thereby controlling a slip degree of the rear wheel (4) to a slip degree target, and in the case where a slide request, which is a request by a rider to make the lean vehicle (100) slide, is present, implements a slide control mode in which the anti-lock braking operation is performed by setting the slip degree target to be higher than that of a case where the slide request is absent.

The present invention obtains a controller and a control method capable of appropriately executing automatic emergency deceleration operation of a straddle-type vehicle.

In the controller according to the present invention, when the automatic emergency deceleration operation of the straddle-type vehicle is executed, at a braking start time point at which a braking force starts being generated on at least one of wheels, braking force distribution between the front and rear wheels is brought into an initial state where the braking force is generated on the front wheel. In the control method according to the present invention, when the automatic emergency deceleration operation of the straddle-type vehicle is executed, at the braking start time point at which the braking force starts being generated on at least one of the wheels, the braking force distribution between the front and rear wheels is brought into the initial state where the braking force is generated on the front wheel.

A brake mode control system and a brake mode control method for a vehicle are disclosed. The brake mode control system comprises a user interface, a driving information sensor, a braking controller, and a brake mode control panel. The user interface is configured to receive a brake mode input by a driver, the driving information sensor is configured to sense driving information of the vehicle, the braking controller is configured to determine a driving state of the vehicle based on the driving information of the vehicle sensed by the driving information sensor and selectively change the brake mode received by the user interface according to the determined driving state of the vehicle to achieve a final brake mode, and the brake mode control panel is configured to generate a different braking feel according to a pedal action force required for a pedal stroke based on the final brake mode.

An Anti-lock Braking System and control method are disclosed. The control method is performed after a control module intervenes a vehicle's braking system and comprises: receiving a wheel speed signal of a wheel and a vehicle acceleration signal; computing a tire-slip feedback value according to the wheel speed signal of the wheels and the vehicle acceleration signal; generating a feedback control voltage according to a tire-slip difference between a tire-slip target value and the tire-slip feedback value; generating a tire-slip compensation value by performing a differential compensation to the tire-slip feedback value; obtaining a feedforward voltage according to the tire-slip compensation value via a look-up table approach; generating a braking control voltage by adding the feedback control voltage to the feedforward voltage; and outputting the braking control voltage to a proportioning-valve brake, such that the proportioning-valve brake adjusts a braking pressure according to the braking control voltage.