A controller and a control method are capable of improving safety by automatic emergency deceleration action while suppressing a motorcycle from falling over. One arrangement also obtains a brake system that includes such a controller. In the controller, the control method, and the brake system, a control mode that causes the motorcycle to take the automatic emergency deceleration action is initiated in response to trigger information generated in accordance with peripheral environment of the motorcycle. In the control mode, automatic emergency deceleration that is deceleration of the motorcycle generated by the automatic emergency deceleration action is controlled in accordance with a lean angle of the motorcycle.

Systems and methods are provided for generating data indicative of a friction associated with a driving surface, and for using the friction data in association with one or more vehicles. In one example, a computing system can detect a stop associated with a vehicle and initiate a steering action of the vehicle during the stop. The steering action is associated with movement of at least one tire of the vehicle relative to a driving surface. The computing system can obtain operational data associated with the steering action during the stop of the vehicle. The computing system can determine a friction associated with the driving surface based at least in part on the operational data associated with the steering action. The computing system can generate data indicative of the friction associated with the driving surface.

A vehicle control apparatus to be applied to a vehicle includes a first traveling motor, a second traveling motor, and a control system. The control system estimates a first friction coefficient between a first wheel and a road surface and a second friction coefficient between a second wheel and a road surface. When the vehicle starts in a situation in which any of the first and second friction coefficients is less than a first threshold and a difference between the first and second friction coefficients is greater than a second threshold, the control system increases a power running torque of the first traveling motor after elapse of a first delay time after increasing a power running torque of the second traveling motor, if the first friction coefficient is smaller than the second friction coefficient. The first delay time is set on the basis of the first friction coefficient.

A vehicle control apparatus to be applied to a vehicle includes a first traveling motor, a second traveling motor, and a control system. The control system estimates a first friction coefficient between a first wheel and a road surface and a second friction coefficient between a second wheel and a road surface. When the vehicle starts in a situation in which any of the first and second friction coefficients is less than a first threshold and a difference between the first and second friction coefficients is greater than a second threshold, the control system increases a power running torque of the first traveling motor after elapse of a first delay time after increasing a power running torque of the second traveling motor, if the first friction coefficient is smaller than the second friction coefficient. The first delay time is set on the basis of the first friction coefficient.

A method for controlling a vehicle brake system of a heavy duty vehicle, the brake system comprising a service brake system and an electrical machine brake system. The method includes determining a total brake torque request for braking a wheel of the vehicle, obtaining a brake torque capability of the electrical machine, determining if the total brake torque request exceeds the brake torque capability of the electrical machine, and if the total brake torque request exceeds the brake torque capability of the electrical machine but is below a threshold level, applying a baseline brake torque by the service brake system, wherein the baseline brake torque is configured to compensate for a difference between total brake torque request and brake torque capability of the electrical machine, and controlling wheel slip by the electrical machine brake system.

A service and emergency braking control system for at least one railway vehicle, including a plurality of braking control modules is provided. Each braking control module is equipped for: if, when achieving a determined braking torque value from an applied braking torque, an instantaneous deceleration value is lower than the target deceleration value, increasing the applied braking torque until the instantaneous deceleration value reaches the target deceleration value, or until the maximum available adhesion from an axle controlled by said braking control module is indicated.

Systems and methods are provided for generating data indicative of a friction associated with a driving surface, and for using the friction data in association with one or more vehicles. In one example, a computing system can detect a stop associated with a vehicle and initiate a steering action of the vehicle during the stop. The steering action is associated with movement of at least one tire of the vehicle relative to a driving surface. The computing system can obtain operational data associated with the steering action during the stop of the vehicle. The computing system can determine a friction associated with the driving surface based at least in part on the operational data associated with the steering action. The computing system can generate data indicative of the friction associated with the driving surface.

A system and method of mu estimation may include the steps of collecting vehicle travel data on a road surface via a plurality of a sensors including at least one of an accelerometer or microphone; collecting external source data over a network; and aggregating the vehicle travel data and external source data to form an aggregated data set. The method may include performing feature extraction processing of the aggregated data set to transform the aggregated data set and into a processed aggregated data set; communicating the processed aggregated data set to a machine learning model; and generating at least one of an estimated mu value of the road surface or road surface classification via the machine learning model.

A system and method of mu estimation may include the steps of collecting vehicle travel data on a road surface via a plurality of a sensors including at least one of an accelerometer or microphone; collecting external source data over a network; and aggregating the vehicle travel data and external source data to form an aggregated data set. The method may include performing feature extraction processing of the aggregated data set to transform the aggregated data set and into a processed aggregated data set; communicating the processed aggregated data set to a machine learning model; and generating at least one of an estimated mu value of the road surface or road surface classification via the machine learning model.

The disclosed invention makes use of slip related values to calculate friction related values and tire stiffness related values and feeds back an estimated tire stiffness relates value or a calculated friction related as a basis for further calculations. In particular, the disclosure relates to methods, apparatuses and computer program products to achieve the mentioned objective.