Abstract: Aspects of the present invention relate to a control system for detection of a wheel slip event on a vehicle having a plurality of wheels. The control system includes one or more processors collectively configured to receive a steer angle signal to perform a turn manoeuvre; and to determine which one of the wheels is an inside rear wheel of the vehicle based on the steer angle signal,. The one or more processors receive at least one wheel speed signal. A fastest wheel speed of the plurality of wheels is determined. One or more inside rear wheel speed ripple is detected based on a determination that the wheel speed of the inside rear wheel is the fastest wheel speed. The detection of a wheel slip event on at least the inside rear wheel is controlled based on detection of the one or more wheel speed ripple.

Abstract: Aspects and embodiments of the invention relate to a speed control system for a vehicle, the speed control system comprising one or more processors collectively configured to: receive a signal indicative of a vehicle speed; receive a signal indicative of at least one vehicle body acceleration component; determine a sampling window having a window length dependent on the vehicle speed; calculate a running average magnitude of the at least one vehicle body acceleration component over the determined sampling window; and generate a vehicle acceleration request which depends on the running average magnitude of the at least one vehicle body acceleration component. Further aspects and embodiments of the invention relate to a system and a vehicle comprising the speed control system. Further aspects and embodiments of the invention relate to a corresponding method of controlling a speed of a vehicle and computer-readable instructions arranged to perform the method.

Abstract: Aspects of the invention relate to a speed control system for a vehicle comprising one or more processors collectively configured to: receive a signal indicative of a vehicle speed; receive a signal indicative of at least one vehicle body acceleration component; determine a first score; determine a second score; determine a permitted score range including the first score; determine whether the second score is within the permitted score range; if the second score is within the permitted score range, generate a vehicle acceleration request; and if the second score is not within the permitted score range, determine a third score being an endpoint of the permitted score range closest to the second score and generate a vehicle acceleration request. Further aspects of the invention relate to a corresponding system and vehicle comprising the speed control system, a corresponding method, and a computer-readable instructions arranged to perform the method.

Abstract: Aspects and embodiments of the invention relate to a speed control system for a vehicle, the speed control system comprising one or more processors collectively configured to: receive a signal indicative of a vehicle speed; receive a signal indicative of a driving surface gradient; receive a signal indicative of at least one vehicle body acceleration component; determine a score in dependence on the at least one vehicle body acceleration component; determine a score difference between the score and a predefined score target; determine a target value for vehicle acceleration using a predefined relationship between (i) the score difference, (ii) the vehicle speed and/or the driving surface gradient, and (iii) vehicle acceleration; and generate a vehicle acceleration request based on the determined target value for vehicle acceleration. Further aspects and embodiments relate to a corresponding method of controlling a speed of a vehicle and computer-readable instructions arranged to perform the method.

Abstract: Embodiments describe an arrangement for reducing the amount of LPA that reaches a NOx reducing apparatus such as a SCR system. The arrangement includes deflection elements, screens, means for dislodging any LPA that might become lodged in the screens, an aperture for removing the ash through, hoppers or collection means and an ash conveyance system. The arrangement is positioned in a region of ductwork with a reduced gas flow such as the SCR reactor. The screens are positioned relative to one another to direct the LPA downward toward an aperture for removal. In one embodiment the positioning of the screens creates a half-trough or inverted pyramid appearance when placed next to a vertical wall in the flue gas ductwork or the SCR reactor. The low point of the trough is in communication with the aperture allowing the LPA to exit the flue ductwork.