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.

In a method for estimating the locking pressure in the brake system of a multi-axle vehicle during a dynamic axle-load transfer, the locking pressure is ascertained during the axle-load transfer and the wheel normal force is ascertained at two points in time during the axle-load transfer and the locking pressure is ascertained therefrom at the later point in time.

Method for estimating a brake factor parameter, the brake factor parameter being defined as a ratio of a braking torque over a braking pressure, the braking torque being applied on a wheel of a vehicle by a braking wheel sub-system of a braking system of the vehicle, the braking pressure being applied by the braking wheel sub-system to achieve the braking torque on the wheel of the vehicle, the method comprising collecting input parameters and estimating the brake factor parameter as a function of the at least one input parameter, an output of the step of estimating being an open loop estimation of the brake factor parameter.

A brake control device as an example of the present disclosure includes: an acquisition unit configured to acquire an output of a sensor that detects information indicating a ground contact state of a drive wheel of a vehicle; and a control unit configured to, when an acceleration operation for causing the vehicle to accelerate is performed on the vehicle stopped due to a parking brake force generated by an electric parking brake, identify the ground contact state of the drive wheel based on the output of the sensor acquired by the acquisition unit, and control the electric parking brake to release the parking brake force by a control method that differs depending on the identified ground contact state.

A control method for distribution of braking force of an autonomous vehicle may include a vertical load determination step in which a controller is configured to recognize an object existing in an interior of the vehicle and recognizes data of at least one among a position in the vehicle, a size, volume, density, weight, and center of gravity of the corresponding object, and determines a vertical load applied to each wheel of the vehicle according to the recognized data, wherein the controller transmits data of the determined vertical load of each wheel to a brake controller electrically connected to the controller, and the brake controller 40 determines an amount of the distribution of the braking force for each wheel of the vehicle according to the received data of the vertical load and drives a brake actuator electrically connected to the brake controller according to the determined amount of the distribution of the braking force.

A method for controlling propulsion of a heavy-duty vehicle includes. configuring a nominal shaft slip of the drive shaft in dependence of a desired longitudinal wheel force to be generated by the driven axle, wherein a shaft slip is indicative of a difference between a current vehicle velocity and a vehicle velocity corresponding to the rotation speed of the drive shaft, obtaining a rotation speed of the left wheel and a rotation speed of the right wheel, as function of a current shaft slip of the driven axle, estimating a peak shaft slip value associated with an open differential peak longitudinal force of the driven axle, based on the current shaft slip and on the corresponding obtained speeds of the left and right wheels, and controlling propulsion of the heavy-duty vehicle unit by setting the current shaft slip of the drive shaft based on the configured nominal shaft slip adjusted in dependence of the estimated peak shaft slip value.

Methods and systems for estimating an axle load of a vehicle are described. In one example, a method is disclosed wherein axle load is estimated in response to an angle between two components of an axle. The angle may change as weight is added to or removed from the axle such that axle load may be determined as a function of the angle.

A computer implemented method for controlling at least one driven and/or braked wheel of a heavy-duty vehicle. The method includes obtaining a motion request indicative of a desired longitudinal acceleration and/or longitudinal force associated with the vehicle, and configuring a wheel slip limit value indicative of a maximum allowable wheel slip by the at least one driven and/or braked wheel at a nominal value, and increasing the wheel slip limit value from the nominal value to a boost wheel slip value in response to detecting a boost signal, as well as controlling the at least one driven and/or braked wheel in dependence of the motion request and subject to the wheel slip limit value.

The present invention obtains a controller capable of improving safety of a motorcycle. The controller that controls vehicle body behavior of the motorcycle includes: an acquisition section that acquires trigger information generated in accordance with peripheral environment of the motorcycle; and an execution section that initiates a control mode making the motorcycle execute an automatic brake operation in accordance with the trigger information acquired by the acquisition section and makes the motorcycle generate a braking force. The acquisition section further acquires seat load information that is information of a load received by a seat of the motorcycle, and the execution section changes the automatic brake operation, which is executed in the control mode, in accordance with the seat load information acquired by the acquisition section.

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.