Abstract: A method estimates an articulation angle between a towing vehicle and a trailer with respect to a pivot. The method determines a distance between an instantaneous center of velocity of the towing vehicle and a center of at least one axle of the towing vehicle representative for a rotation of the towing vehicle about the instantaneous center of velocity of the towing vehicle and/or a distance between an instantaneous center of velocity of the trailer and a center of at least one axle of the trailer representative for a rotation of the trailer about the instantaneous center of velocity of the trailer. The method determines at least one instantaneous speed representative for a wheel speed of at least one wheel of the towing vehicle and/or the trailer, wherein the at least one instantaneous speed refers to the at least one determined distance, and estimates the articulation angle based on the at least one determined instantaneous speed and the at least one determined distance.

Abstract: A method for determining an actual mass of a vehicle, includes: determining a reference relationship of a deceleration of the vehicle having a known mass with respect to a brake demand; executing braking with a predetermined brake demand; detecting an actual deceleration of the vehicle when using the predetermined brake demand; determining an actual relationship of the actual deceleration of the vehicle with respect to the predetermined brake demand; and determining the actual mass of the vehicle by correlating the actual relationship and the reference relationship.

Abstract: An overtaking assistance device for a commercial vehicle is disclosed. The commercial vehicle has at least one distance measurement device mounted on a rear side of the commercial vehicle. The distance measurement device is configured to provide distance information suitable to determine a closest distance and an angle to another vehicle in an adjacent driving lane. The distance measurement device has an evaluation unit configured to provide an overtaking support function by: accessing the distance measurement device to obtain the distance information to the other vehicle; determining a longitudinal distance between the commercial vehicle and the other vehicle based on the distance information; and issuing a signal indicating a possible safe lane change to complete the overtaking operation.

Abstract: A reversing assistance device for a vehicle is disclosed. The vehicle comprises a radar unit mounted on a rear of the vehicle and is configured to provide distance information to an object that is fully or partially behind the vehicle when approaching the object under an approaching angle. The reversing assistance device comprises an evaluation unit configured to provide a reversing support function by: obtaining from the radar unit the distance information to the object; determining, based on the distance information, a shortest longitudinal distance between a corner of the rear of the vehicle and the object along a reversing direction of the vehicle; and, based on the shortest longitudinal distance, modifying the distance information to compensate for the approaching angle.

Abstract: A control method and device are provided for a commercial vehicle brake system, wherein brake slip can be adjusted by at least one electric motor and at least one further brake, such as a pneumatic service brake. In the event of a normal braking request, deceleration is realized solely by at least one electric motor, and if a deceleration request exceeds the potential of the at least one electric motor or the brake slip becomes too high, the calculated braking torque is correspondingly distributed to the at least one electric motor and a further brake, such as a pneumatic service brake. As the responsiveness and controllability of electric drive motors are considerably better than pneumatic brake systems, these advantages are correspondingly utilized in the present braking method and the present braking device.

Abstract: A method estimates an articulation angle between a towing vehicle and a trailer with respect to a pivot. The method determines a distance between an instantaneous center of velocity of the towing vehicle and a center of at least one axle of the towing vehicle representative for a rotation of the towing vehicle about the instantaneous center of velocity of the towing vehicle and/or a distance between an instantaneous center of velocity of the trailer and a center of at least one axle of the trailer representative for a rotation of the trailer about the instantaneous center of velocity of the trailer. The method determines at least one instantaneous speed representative for a wheel speed of at least one wheel of the towing vehicle and/or the trailer, wherein the at least one instantaneous speed refers to the at least one determined distance, and estimates the articulation angle based on the at least one determined instantaneous speed and the at least one determined distance.

Abstract: A method for preventing a rollover of a vehicle or a tractor-trailer combination in curves, by counteracting a rollover risk of the vehicle by independent regulating interventions, performed without action by a vehicle driver, in a regulation system that actuates the drive and/or the brakes of the vehicle, the method including: capturing the current driving situation and the current load of the vehicle or the tractor-trailer combination as to the current driving position of the vehicle or the tractor-trailer combination, ascertaining a maximum admissible transverse acceleration at the current driving position, at which maximum admissible transverse acceleration the vehicle or the tractor-trailer combination just does not roll over, as to the current driving situation and the current load of the vehicle or the tractor-trailer combination. Also described is a related apparatus for preventing a rollover of a vehicle or a tractor-trailer combination in curves.

Abstract: A method for preventing a rollover of a vehicle or a tractor-trailer combination in curves, by counteracting a rollover risk of the vehicle by independent regulating interventions, performed without action by a vehicle driver, in a regulation system that actuates the drive and/or the brakes of the vehicle, the method including: capturing the current driving situation and the current load of the vehicle or the tractor-trailer combination as to the current driving position of the vehicle or the tractor-trailer combination, ascertaining a maximum admissible transverse acceleration at the current driving position, at which maximum admissible transverse acceleration the vehicle or the tractor-trailer combination just does not roll over, as to the current driving situation and the current load of the vehicle or the tractor-trailer combination. Also described is a related apparatus for preventing a rollover of a vehicle or a tractor-trailer combination in curves.