Abstract: A device for reversing an articulated vehicle combination that has at least two vehicle units interconnected via at least one articulated join includes an arrangement for recording and storing a plurality of global positions of a local position of the vehicle combination, at least one sensor, mounted on the vehicle combination, for recording data representing a plurality properties of the surroundings, and a control unit arranged to determine, based at least partly on a plurality of dimensions of the vehicle combination, a set of global positions recorded when the vehicle combination is moving forward, and a set of data representing properties of the surroundings recorded during the forward movement, vehicle control input data for control of the vehicle combination during a reverse movement of the vehicle combination.

Abstract: The present invention relates to a method for controlling a steering system of a vehicle (100).

Abstract: A control system is provided for an articulated vehicle including a towing vehicle, a trailer and an autonomous emergency braking system, wherein the control system includes: a brake control arrangement adapted to apply a friction-estimating braking; a brake force capacity estimation arrangement adapted to estimate the brake force capacity of the vehicle as a function of longitudinal wheel slip based on the applied friction-estimating braking; an axle load estimation arrangement adapted to estimate the normal force on each wheel axle of the vehicle; a friction estimation arrangement adapted to estimate a friction coefficient based on the estimated brake force capacity and at least one of the estimated normal forces; and a brake strategy adaptation arrangement configured to adapt the brake strategy of the autonomous emergency braking system by adjusting the brake force for at least one wheel axle of the Vehicle based on the estimated friction coefficient and the at least one wheel axle's estimated normal force

Abstract: A device for reversing an articulated vehicle combination that has at least two vehicle units interconnected via at least one articulated join includes an arrangement for recording and storing a plurality of global positions of a local position of the vehicle combination, at least one sensor, mounted on the vehicle combination, for recording data representing a plurality properties of the surroundings, and a control unit arranged to determine, based at least partly on a plurality of dimensions of the vehicle combination, a set of global positions recorded when the vehicle combination is moving forward, and a set of data representing properties of the surroundings recorded during the forward movement, vehicle control input data for control of the vehicle combination during a reverse movement of the vehicle combination.

Abstract: A method is provided for controlling a hydraulic hybrid vehicle, the hydraulic hybrid vehicle including: a first pair of wheels and a second pair of wheels; an internal combustion engine connected to the first pair of wheels for propelling the hydraulic hybrid vehicle; and a hydraulic propulsion system including a first hydraulic machine connected to the second pair of wheels, the method including the steps of; receiving a signal indicative of a driving condition, including vehicle speed, of the hydraulic hybrid vehicle; comparing the vehicle speed of the driving condition of the hydraulic hybrid vehicle with an upper predetermined threshold speed limit; determining if the vehicle speed of the driving condition is higher than the upper predetermined threshold speed limit; and when the vehicle speed is higher than the upper predetermined threshold speed determining, based on the driving condition, control parameters for operating the first hydraulic machine; and controlling the control parameters of the first

Abstract: A method is provided for controlling a hydraulic hybrid vehicle, the hydraulic hybrid vehicle including: a first pair of wheels and a second pair of wheels; an internal combustion engine connected to the first pair of wheels for propelling the hydraulic hybrid vehicle; and a hydraulic propulsion system including a first hydraulic machine connected to the second pair of wheels, the method including the steps of; receiving a signal indicative of a driving condition, including vehicle speed, of the hydraulic hybrid vehicle; comparing the vehicle speed of the driving condition of the hydraulic hybrid vehicle with an upper predetermined threshold speed limit; determining if the vehicle speed of the driving condition is higher than the upper predetermined threshold speed limit; and when the vehicle speed is higher than the upper predetermined threshold speed determining, based on the driving condition, control parameters for operating the first hydraulic machine; and controlling the control parameters of the first

Abstract: The invention i.a. relates to a method comprising the steps of: parking (S1) a trailer (12) by means of a towing vehicle (10), which trailer (12) is coupled to the towing vehicle (10) via a coupling element (32) of the trailer (12); the towing vehicle (10) estimating (S2) position and heading of the coupling element (32) of the parked trailer (12); transmitting (S3) the estimated position and heading of the coupling element (32) of the parked trailer (12) to a data storage device (34, 42); and automatically uncoupling (S5) the trailer (12) from the towing vehicle (10), so that the towing vehicle (10) can drive away from the parked trailer (12).

Abstract: The invention relates to a method for transforming between a long vehicle combination (10) and a platoon (12) on the move. The present invention also relates to vehicles (14a-b; 14b-c) for such a method.

Abstract: The present invention relates to a wheel controller (108) for a vehicle (100), comprising a wheel slip calculation module (212) arranged to calculate a longitudinal wheel slip value for a wheel slip between a surface of the wheel (102) and a road surface thereof; a wheel force estimation module (214) arranged to estimate a longitudinal wheel force value for a wheel force between the surface of the wheel (102) and the road surface; a tire model generator (216) arranged to receive longitudinal wheel slip values from the wheel slip calculation module (212) and longitudinal wheel force values from the wheel force estimation module (214); said tire model generator (216) being configured to generate a model (300, 400) representing a relationship between the calculated longitudinal wheel slip and the estimated longitudinal wheel force by using at least three longitudinal wheel force values and three corresponding longitudinal wheel slip values; and a vehicle wheel capability module (218) arranged in communication wi

Abstract: An arrangement for improving maneuverability of a vehicle combination that includes a first vehicle unit, a second vehicle unit and a third vehicle unit interconnected by articulated joints, where the vehicle combination includes two driven axles and where each driven axle can be controlled independently, an arrangement for determining the articulation angel between the vehicle units, an arrangement for determining a steering wheel angle of the vehicle combination, an arrangement for determining the speed of the vehicle combination, an arrangement for determining the yaw rate of the vehicle units, and an arrangement for determining a delay value between the steering wheels of the vehicle combination and at least one articulated joint, where the arrangement is adapted to control a desired articulation angle of the articulated joints by coordinating the force ratio between the two driven axles by using the determined yaw rate of the vehicle units and the determined delay value.

Abstract: A control system is provided for an articulated vehicle including a towing vehicle, a trailer and an autonomous emergency braking system, wherein the control system includes: a brake control arrangement adapted to apply a friction-estimating braking; a brake force capacity estimation arrangement adapted to estimate the brake force capacity of the vehicle as a function of longitudinal wheel slip based on the applied friction-estimating braking; an axle load estimation arrangement adapted to estimate the normal force on each wheel axle of the vehicle; a friction estimation arrangement adapted to estimate a friction coefficient based on the estimated brake force capacity and at least one of the estimated normal forces; and a brake strategy adaptation arrangement configured to adapt the brake strategy of the autonomous emergency braking system by adjusting the brake force for at least one wheel axle of the Vehicle based on the estimated friction coefficient and the at least one wheel axle's estimated normal force

Abstract: A control system is provided for a vehicle including an autonomous emergency braking system, characterized in that the control system includes: a brake control arrangement adapted to apply a friction-estimating braking when the autonomous emergency braking system has initiated a possible intervention; a brake force capacity estimation arrangement adapted to estimate the brake force capacity of the vehicle as a function of longitudinal wheel slip based on the applied friction-estimating braking; a road information arrangement adapted to obtain information about road curvature ahead of the vehicle; a lateral tyre force prediction arrangement adapted to predict lateral tyre force needed during autonomous emergency braking based on the obtained information about road curvature; and a brake strategy adaptation arrangement configured to adapt the brake strategy of the autonomous emergency braking system based on the estimated brake force capacity and the predicted lateral tyre force needed.

Abstract: A method is provided for controlling a hydraulic hybrid vehicle, the hydraulic hybrid vehicle including: a first pair of wheels and a second pair of wheels; an internal combustion engine connected to the first pair of wheels for propelling the hydraulic hybrid vehicle; and a hydraulic propulsion system including a first hydraulic machine connected to the second pair of wheels, the method including the steps of; receiving a signal indicative of a driving condition, including vehicle speed, of the hydraulic hybrid vehicle; comparing the vehicle speed of the driving condition of the hydraulic hybrid vehicle with an upper predetermined threshold speed limit; determining if the vehicle speed of the driving condition is higher than the upper predetermined threshold speed limit; and when the vehicle speed is higher than the upper predetermined threshold speed determining, based on the driving condition, control parameters for operating the first hydraulic machine; and controlling the control parameters of the first

Abstract: A method for assisting the reversal of an articulated vehicle includes recording a predefined number of positions for a first articulated vehicle for a specified path, recording the articulation angle of each articulation joint of the articulated vehicle at the predefined number of positions, recording the heading for the first articulated vehicle at the predefined number of positions, saving the recorded values for the specified path in a memory, calculating the swept area of the first vehicle for the specified path by using the recorded values and size information of the articulated vehicle, and using the swept area to control the steering of the articulated vehicle when reversing the articulated vehicle along the specified path, such that the articulated vehicle does not extend outwards of the swept area during the reversal.

Abstract: An arrangement for improving manoeuvrability of a vehicle combination that includes a first vehicle unit, a second vehicle unit and a third vehicle unit interconnected by articulated joints, where the vehicle combination includes two driven axles and where each driven axle can be controlled independently, an arrangement for determining the articulation angel between the vehicle units, an arrangement for determining a steering wheel angle of the vehicle combination, an arrangement for determining the speed of the vehicle combination, an arrangement for determining the yaw rate of the vehicle units, and an arrangement for determining a delay value between the steering wheels of the vehicle combination and at least one articulated joint, where the arrangement is adapted to control a desired articulation angle of the articulated joints by coordinating the force ratio between the two driven axles by using the determined yaw rate of the vehicle units and the determined delay value.

Abstract: 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.

Abstract: An arrangement for improving stability of a vehicle combination including a towing vehicle and at least one towed vehicle, where the at least one towed vehicle includes at least one 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 an arrangement for determining yaw rate for determining the yaw rate of the vehicle and the at least one towed vehicle, where the arrangement further includes a vehicle combination model adapted for determining a desired delay value between the yaw rate of the towing vehicle and the yaw rate of the at least one towed vehicle, where the arrangement is adapted to stabilize the at least one towed vehicle by using the determined yaw rate of the towing vehicle and the desired delay value for the at least one towed vehicle to establish a desired yaw rate 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 d

Abstract: A method for assisting the reversal of an articulated vehicle includes recording a predefined number of positions for a first articulated vehicle for a specified path, recording the articulation angle of each articulation joint of the articulated vehicle at the predefined number of positions, recording the heading for the first articulated vehicle at the predefined number of positions, saving the recorded values for the specified path in a memory, calculating the swept area of the first vehicle for the specified path by using the recorded values and size information of the articulated vehicle, and using the swept area to control the steering of the articulated vehicle when reversing the articulated vehicle along the specified path, such that the articulated vehicle does not extend outwards of the swept area during the reversal.

Abstract: An arrangement for improving stability of a vehicle combination including a towing vehicle and at least one towed vehicle, where the at least one towed vehicle includes at least one actively steered axle and/or individual brake on at least one axle. The towing vehicle and the at least one towed vehicle each includes a lateral acceleration determining means. The arrangement further includes a vehicle combination model 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.

Abstract: 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.