Abstract: A lane keeping control apparatus, a vehicle system including the same, and a method thereof may include a processor configured to determine a target turning radius to reach a center portion of a lane, to determine a required steering angle based on the target turning radius, and to correct the required steering angle by use of a difference between an actual yaw rate and a target yaw rate during lane keeping control; and a storage configured to store data and algorithms driven by the processor.

Abstract: 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.

Abstract: A vehicle and a system and method of controlling the vehicle. The system includes a sensor and a processor. The sensor obtains a first estimate of a force on a tire of the vehicle based on dynamics of the vehicle. The processor is configured to obtain a second estimate of the force on the tire using a tire model, determine an estimate of a coefficient of friction between the tire and the road from the first estimate of the force and the second estimate of the force, and control the vehicle using the estimate of the coefficient of friction.

Abstract: A system and method for utilizing aggregated weather data (AWD) for deriving road surface condition (RSC) estimates. This system and method supplements road friction estimates (RFEs) made at the vehicle level with AWD in the cloud to form the RSC estimates, which are then transmitted to the vehicles such that more accurate RFEs can be made locally, and so on. Conventional RFE physics-based models are replaced with enhanced RFE trained machine learning (ML) models accordingly. Global RSC estimates are derived for each geographical region using weather and location constraints. Thus, improved autonomous driving and driver assist functions may be implemented, better driver warnings may be provided, and safer road trips may be planned in advance based on a thorough analysis of the drivable conditions.

Abstract: Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: receiving a first surface value associated with a first road surface area in an upcoming environment of the vehicle; receiving a second surface value associated with a second road surface area in the upcoming environment of the vehicle; determining a change in surface value based on the first surface value and the second surface value; and in response to the change in surface value being greater than a threshold, adapting at least one of vehicle collision warning messages, vehicle braking control, vehicle steering control, and path planning based on the second surface value.

Abstract: A brake noise at stationary steering is prevented while brake hold being in operation, in automated steering with parking assist control.

Abstract: Techniques are described for dynamically selecting vehicles to perform road friction probing maneuvers and estimating road friction based on sensor data collected while a vehicle performs the road friction probing maneuvers. In one example, a computing system is configured to select, from a plurality of vehicles, based on an amount of elapsed time since each respective vehicle of the plurality of vehicles has performed a road friction probing maneuver, a vehicle to perform the road friction probing maneuver within a road segment of a roadway, and responsive to selecting the vehicle, output, to the vehicle, a command causing the vehicle to perform the road friction probing maneuver within the road segment.

Abstract: A system for estimating the friction between a road surface and a tire of a vehicle includes at least one first sensor and at least one vehicle processing device containing a friction estimation algorithm which is arranged to estimate the friction between the road surface and the tire of the vehicle based on friction related measurements is provided. The vehicle processing device is arranged to: receive an estimate of the expected friction between the road surface and the tire of the vehicle from a central processing device, from a storage device in the vehicle, or from at least one second sensor in the vehicle; adapt the friction estimation algorithm based on said received estimate of the expected friction; receive at least one friction related measurement from the at least one first sensor in the vehicle; and use the adapted friction estimation algorithm to perform an estimation of the friction between the road surface and the tire of the vehicle based on the at least one friction related measurement.

Abstract: A method for determining a friction coefficient for a contact between a tire of a vehicle and a roadway. The method includes processing sensor signals in order to generate processed sensor signals. The sensor signals represent state data that are read in at least by at least one detection device and that are correlatable with the friction coefficient. The processed sensor signals represent at least one preliminary friction coefficient. The method also includes ascertaining the friction coefficient using the processed sensor signals and a regression model.

Abstract: A speed control device which is satisfactory in response and tracking to a speed setting, and can adjust an acceleration-and-deceleration feel according to preferences, is provided. The speed control device 6 controls a speed of a ship so that the speed automatically follows a speed setting set by a ship operator. The speed control device 6 includes a target speed setting module 63 and a change rate adjusting module 64. The target speed setting module 63 sets a target speed that is a target of the speed of the ship to follow, for every unit time, according to the speed setting, to change the target speed based on a given rate of change. The change rate adjusting module 64 decreases the rate of change by adjusting the rate of change at multiple stages, when the target speed set by the target speed setting module 63 approaches the speed setting.

Abstract: A control device for a steer-by-wire type vehicle calculates a target turn angle being represented as a function of a steering angle of a steering wheel, and controls a turning device such that a turn angle of a wheel becomes the target turn angle. A variation range of the steering angle includes: an effective steering range in which the steering angle is an effective maximum steering angle or smaller; and an adjustment steering range in which the steering angle is between the effective maximum steering angle and a predetermined maximum steering angle. The target turn angle calculated according to the effective maximum steering angle is an effective maximum turn angle. The control device variably sets the function according to a road surface condition such that the effective maximum turn angle in a case of a low-? condition is smaller than that in a case of a high-? condition.

Abstract: A method for estimating a value representing the frictional behavior of a vehicle being driven on a road segment, including receiving operating parameters of a vehicle including at least, a driving wheel angular velocity, an angular velocity of a free wheel of the vehicle, and vehicle a dynamic characteristic; computing a first ratio between the driving wheel angular velocity and the angular velocity of a free wheel of the vehicle, which are acquired when the vehicle is moving substantially in a straight line at a velocity greater than or equal to a first preset threshold; determining, from the received operating parameters, a second ratio between the driving wheel radius and the free wheel radius; determining a slip rate from a product of the first and second determined ratios; and obtaining a value representing the vehicle's frictional behavior by normalizing the determined slip rate using at least the vehicle's dynamic characteristic.

Abstract: A control device includes an electronic control unit. The electronic control unit determines a right steering command value and a left steering command value. The electronic control unit acquires path information indicating a target path for the vehicle. The electronic control unit corrects a steering command value such that the vehicle travels along the target path. The electronic control unit corrects the right steering command value and the left steering command value so as to bring the distribution ratio between a skid angle of a right steered wheel and a skid angle of a left steered wheel to a target distribution ratio.

Abstract: A system is configured to mitigate hydroplaning of a vehicle having an adjustable aerodynamic-aid element configured to generate a selectable downforce on the vehicle body in response to a movement of ambient airflow relative thereto. The system includes a mechanism for varying a position of the adjustable aerodynamic-aid element relative to the body to regulate the downforce and sensor(s) configured to detect a vehicle dynamic parameter indicative of hydroplaning of the vehicle. The system additionally includes an electronic controller in communication with the sensor(s) and programmed to regulate the mechanism. The controller is configured to determine a target position for the adjustable aerodynamic-aid element in response to signal(s) from the sensor(s). The controller is also configured to set the adjustable aerodynamic-aid element to the target position via the mechanism to regulate the downforce on the vehicle body and mitigate the hydroplaning of the vehicle.

Abstract: In the present invention, when a road surface condition is determined based on information acquired by a camera installed in a vehicle, a route of a host vehicle is predicted and the is determined. A road surface condition determination method and device determines a road surface condition of a predicted route based on information acquired by a camera installed in a host vehicle. A controller predicts a route of the host vehicle by determining a road surface friction coefficient of the predicted route based on information acquired by the camera. The determining of the road surface friction coefficient of the predicted route includes: dividing an ahead-of-vehicle image acquired by the camera in a left-right direction and determining a road surface condition for each of the determination areas, and determining the road surface friction coefficient in the determination areas through which the predicted route will pass.

Abstract: A method for controlling a parking brake of a vehicle, including: receiving an activation signal which represents a manual operating unit of a parking brake being activated by a driver; reading a speed decrease signal which represents a value of a speed decrease of the vehicle upon receiving the activation signal; and emitting a delay signal as a function of the value of the speed decrease, wherein the delay signal is configured for delaying a complete engagement of the parking brake. Also described are a related apparatus/device, and a computer readable medium.

Abstract: Systems and methods of a vehicle for visually displaying a current state of a vehicle in regards to operational constraints of the vehicle are disclosed. Exemplary implementations may: generate output signals conveying operational information regarding the vehicle; visually present information; determine, based on the output signals, the operational information; determine, based on the operational information, a current vehicle state of the vehicle; determine, based on the operational information, predicted boundaries of the current vehicle state; determine a metric value of a metric representing a difference between the current vehicle state and the predicted boundaries of the current vehicle state; and effectuate display of the metric upon the visual display unit.

Abstract: Disclosed are an EPB compatible with an autohold function, a starting method and a vehicle. According to the EPB, during starting, by converting the vehicle from a brake state where the EPB acts into a brake state where an autohold function acts and enabling the vehicle to start from the brake state where the autohold function acts, the vehicle is started stably, the starting noise of the vehicle is reduced and the driving experience is improved.

Abstract: A method for estimating a tire property of a vehicle based on tire-to-road friction properties for a fleet of vehicles. The method includes: determining a tire-to-road friction for a plurality of vehicles, belonging to the fleet of vehicles, at a plurality of specified locations; determining a reference tire-to-road friction for the fleet of vehicles at each specified location; in a vehicle, determining a current tire-to-road friction at a first location being one of the specified locations; determining a difference between the current tire-to-road friction and the reference tire-to-road friction of the fleet for the first location; and estimating a tire property of the vehicle based on the determined difference. There is also provided a system configured to perform the described method.

Abstract: A method performed by a vehicle system for handling conditions of a road on which a vehicle travels. The vehicle system detect that a first part of the road has a first condition which is different from a second condition of a second part of the road. The vehicle system estimates friction of the first part and evaluates the estimated friction. The vehicle system determines that the vehicle's motion should be adjusted when a result of the evaluation indicates that the estimated friction of the first part of the road affects the vehicle's expected motion, and initiates adjustment of the vehicle's motion on the road as determined.

Abstract: A hydroplaning determination device that determines occurrence of a hydroplaning phenomenon in a vehicle includes a tire mount sensor including a vibration detection unit, a signal process unit and a transmission unit, and a vehicle body system including a receiver, a condition determination unit and a hydroplaning determination unit. The vibration detection unit is attached to a rear surface of a tire provided in a vehicle and outputs a detection signal according to a magnitude of vibration of the tire. The signal process unit generates a vibration data based on the detection signal. The hydroplaning determination unit determines, based on the vibration data, whether a hydroplaning phenomenon has occurred when the condition determination unit determines that a road surface condition is a wet condition in which a water film exists between the tire and a road surface.

Abstract: A method and device for determining a coefficient of friction of a passable supporting surface with the aid of an ego vehicle, including a step of acquiring first data values, which represent a moisture level in the surrounding area of the ego vehicle, a step of checking the plausibility of the acquired, first data values by comparison with at least one second data value, and a step of determining third data values, which represent the coefficient of friction of the passable supporting surface; the determination taking place as a function of the plausibility check of the first data values, using the at least one second data value.

Abstract: A system and method for utilizing aggregated weather data (AWD) for deriving road surface condition (RSC) estimates. This system and method supplements road friction estimates (RFEs) made at the vehicle level with AWD in the cloud to form the RSC estimates, which are then transmitted to the vehicles such that more accurate RFEs can be made locally, and so on. Conventional RFE physics-based models are replaced with enhanced RFE trained machine learning (ML) models accordingly. Global RSC estimates are derived for each geographical region using weather and location constraints. Thus, improved autonomous driving and driver assist functions may be implemented, better driver warnings may be provided, and safer road trips may be planned in advance based on a thorough analysis of the drivable conditions.

Abstract: A road condition is classified based on spray water occurring at a wheel of the vehicle. To this end, the space around a wheel of the vehicle is imaged by a camera and the image captured by the camera is analyzed to detect spray water therein. A distinction can be made between a dry road, a wet road or a road having a risk of aquaplaning on the basis of the detected spray water, e.g. based on the angle, direction or projection range of the spray water.

Abstract: A pathway measurement system hereof includes a rigid frame and a mobility system attached to the frame. The mobility system includes at least one movable element which is adapted to contact a surface of a pathway via which the frame may be moved relative to the pathway. The pathway measurement system further includes at least one sensor adapted to measure at least one characteristic of a pathway. The pathway measurement system has a first mode of operation in which the mobility system moves the frame along the pathway to move the at least one sensor relative to the pathway. The at least one sensor is connected to the pathway system such that a distance between the at least one sensor and an axis of rotation of one of the moveable elements remains constant in the first mode of operation. In general, the at least one sensor is isolated from any compliance or suspension system.

Abstract: An image forming apparatus, including an image forming unit to form an image on a recording medium, includes a storage unit storing the recording medium and disposed to be drawable toward a front side of the image forming apparatus, a first stacking unit, an image reading unit disposed at an image forming apparatus upper portion, a document stacking unit disposed above the first stacking unit and at an image reading unit front side, and a second stacking unit. The first stacking unit stacks the recording medium having the image and which is discharged toward the front side. The image reading unit reads an image formed on a document having the image formed thereon in advance. The document stacking unit stacks the document. The second stacking unit stacks the document having the image read by the image reading unit and which is discharged toward an image reading unit back side.

Abstract: Dynamic industrial vehicle monitoring for modification of vehicle operator behavior comprises identifying a metric that characterizes an event associated with the operation of an industrial vehicle, the metric having at least one behavior modification action and at least one performance parameter to evaluate the event against. Monitoring operation of the industrial vehicle is carried out for the event. Upon detecting an occurrence of the event, event data is recorded that characterizes a response of a vehicle operator to the event. The recorded event data is evaluated against at least one performance parameter associated with the corresponding metric to determine whether the vehicle operator demonstrated appropriate behavior for the event. A vehicle operator score is updated based upon the evaluation and the updated vehicle operator score is communicated.

Abstract: A method of controlling a driving force of a four-wheel drive vehicle includes causing a control unit to acquire a vehicle speed, a lateral acceleration, a driving force of a wheel, a road surface friction coefficient, and a ground contact load of the wheel when the vehicle is traveling, determine whether a road surface is rough based on the acquired road surface condition, correct, when the road surface is determined to be rough, the load of the wheel, by applying thereto a load change rate set according to the roughness, predict a slip occurrence of the wheel by comparing a product of the corrected load and the road surface friction coefficient to a total force of the driving force and a lateral force caused by a lateral acceleration in cornering, and reduce, when the slip occurrence is predicted, the driving force so as to prevent the slip occurrence.

Abstract: A system for controlling a vehicle a sensor to sense measurements indicative of a state of the vehicle and a memory to store a motion model of the vehicle, a measurement model of the vehicle, and a mean and a variance of a probabilistic distribution of a state of calibration of the sensor. The motion model of the vehicle defines the motion of the vehicle from a previous state to a current state subject to disturbance caused by an uncertainty of the state of calibration of the sensor in the motion of the vehicle. The measurement model relates the measurements of the sensor to the state of the vehicle using the state of calibration of the sensor.

Abstract: A motor vehicle controller configured to: receive a drive demand signal indicating an amount of net drive to be applied to one or more driving wheels of a vehicle, estimate a value of a parameter indicative of a surface coefficient of friction between one or more driving wheels and a driving surface, and apply a net torque to one or more wheels of a vehicle. The amount of net torque applied is determined in dependence at least in part on the received drive demand signal. The controller is configured to increase an amount of net torque applied to one or more driving wheels independently of the drive demand signal and to update an estimate of the parameter in dependence on a change in speed of the at least one driving wheel when the amount of net torque applied to the at least one driving wheel is increased.

Abstract: A method and a device are for determining the presence and type of a roadway coating by a vehicle camera system. The vehicle camera system records at least one image of the surroundings of the subject vehicle. The at least one image is evaluated to detect indications of the presence of a roadway coating including a characteristic feature of the roadway coating that results as the roadway is traveled over by the subject vehicle or by another vehicle. The detected indications and characteristic feature are taken into consideration in the determination of the presence and type of a roadway coating. The result of the determination of the roadway coating, or a friction coefficient estimation derived therefrom, is output to a driver assistance function, a vehicle control function or as information to the driver.

Abstract: Methods and systems for determining road surface information in a vehicle. In one embodiment, the method includes: determining at least one condition assessment value based on steering data; determining a feature set to include at least one of self-aligning torque (SAT), slip angle, SAT variance, steering rate, and lateral acceleration based on the condition assessment value; processing steering data obtained during a steering maneuver and associated with the feature set using a pattern classification technique; and determining a surface type based on the processing.

Abstract: A friction estimation system for estimating friction-related data associated with a surface on which a vehicle travels, may include a camera array including a plurality of imagers configured to capture image data associated with a surface on which a vehicle travels. The image data may include light data associated with the surface. The friction estimation system may also include an image interpreter in communication with the camera array and configured to receive the image data from the camera array and determine friction-related data associated with the surface based, at least in part, on the image data. The image interpreter may be configured to be in communication with a vehicle control system and provide the friction-related data to the vehicle control system.

Abstract: A wear amount detection device to detect that a tire is in a worn state, during running, without a special sensor. The device includes a rotation sensor detecting rotation of a wheel to measure a speed of an automobile; a signal processing extracting rotation speed fluctuations synchronized with rotation, from a rotation signal detected by the rotation sensor, and obtain a rotation speed fluctuation pattern synchronized with rotation, from rotation speed fluctuations over a plurality of rotations; and a wear state determination configured to obtain, from the obtained pattern, a value of a component induced by a characteristic embodied in a tire of the wheel, the value varying in accordance with a wear state of the tire, to estimate a wear state of the tire, and to output the state.

Abstract: A tire of a vehicle is calibrated based on a motion model of the vehicle relating control inputs to the vehicle with a state of the vehicle and a measurement model of the vehicle relating measurements of the motion of the vehicle with the state of the vehicle. The motion model of the vehicle includes a combination of a deterministic component of the motion and a probabilistic component of the motion, wherein the deterministic component of the motion is independent from the state of stiffness and defines the motion of the vehicle as a function of time. The probabilistic component of the motion includes the state of stiffness having an uncertainty and defining disturbance on the motion of the vehicle.

Abstract: A method for determining a transverse gradient of a road surface, on which a two-wheeler travels, the two-wheeler having at least one wheel, whose rolling circumference changes as a function of an inclination of the two-wheeler relative to the road surface, an inclination of the two-wheeler relative to the road surface being determined from a variable, which depends on the rolling circumference of the at least one wheel, and the transverse gradient of the road surface being determined from the tilt of the two-wheeler and the inclination relative to the road surface. A corresponding device and a computer program product are also described.

Abstract: Systems and methods use an image of a road surface that is generated by a camera. The image includes a pattern from a light source. A region of interest in the image is determined based on the pattern from the light source. A total area is determined that includes at least part of the region of interest and an area adjacent the region of interest. A feature vector is extracted based on the region of interest and the total area. A road condition is determined based on the feature vector and a classifier.

Abstract: The present disclosure provides systems and methods related to determining observed applied brake force of an aircraft braking system. In various embodiments, a system for calculating observed applied force comprises a current sensor in communication with a controller, a position sensor in communication with the controller and configured to measure a rotational speed of a motor shaft, and a tangible, non-transitory memory configured to communicate with the controller.

Abstract: A vehicle and a vehicle system are provided with a controller that is configured to generate output indicative of a static road gradient estimation based on a filtered longitudinal acceleration. The filtered longitudinal acceleration is dependent upon a derivative of a longitudinal acceleration. An initial value of the static road gradient estimation corresponds to at least one of a kinematic road gradient estimation and a dynamic road gradient estimation.

Abstract: A vehicle drive energy management and active suspension control system and operative methodology in which ground/pathway anomalies are sensed and the relationship thereof to the vehicle chassis is used to enable or automatically effect adjustment of chassis supporting actuators to reduce resisting effects and/or increase assisting effects of the encountered ground/pathway anomalies and thus reduce the vehicle drive energy that would otherwise be required to efficiently move the vehicle in the intended direction, yet maintain the stability of the vehicle.

Abstract: A road friction estimation system and method includes tire-affixed sensors and on-board vehicle sensors, a model-based tire force estimator operable generating from sensor-input a model-derived tire force estimation, a vehicle observer generating an observer-derived tire force estimation and a friction estimator generating a road friction estimation from a comparison of the model-derived tire force estimation and the observer-derived tire force estimation.

Abstract: Method and control device for determining a steering angle of a motor vehicle, wherein a theoretical steering angle is calculated by a vehicle model and a measured steering angle is determined with a steering angle sensor, and the difference between the measured and theoretical steering angles is determined, wherein at least one data record including a number of successive measured values is acquired, and a correction constant for the measured steering angle is determined from the mean value of the differences between the theoretical steering angle and the measured steering angle. According to the invention, a confidence level, which changes incrementally between successive data records, is calculated by travel conditions present during the acquisition of the data record and/or an analysis of the data record.

Abstract: A system and method for improving vehicle performance on a grade comprises an engine, an acceleration sensor, a global positioning system, a controller and a torque transfer device. The controller determines the grade from information obtained from the global positioning system and the acceleration sensor. The controller calculates a dynamic weight shift of the vehicle from a first wheel to a second wheel due to acceleration and a static weight shift of the vehicle from the first wheel to the second wheel due to gravity and the grade. The controller then determines the maximum amount of torque that can be transmitted to the first wheel before the first wheel slips and avoids slipping by preemptively diverting torque from the first wheel to the second wheel before the first wheel slips.

Abstract: A road surface friction coefficient estimating device includes a means which finds a first estimated value Mnsp_estm of an external force to be compared (S102 to S116, S118-2), a means which finds a second estimated value Mnsp_sens (S118-1), and a plurality of increasing/decreasing manipulated variable determining means 34_k, each of which determines the increasing/decreasing manipulated variable ??_k of the friction coefficient estimated value on the basis of the first estimated value Mnsp_estm and the second estimated value Mnsp_sens, and updates the friction coefficient estimated value according to ??_k. The increasing/decreasing manipulated variable determining means 34—1 and 34—2 determine ??—1 and ??—2 according to a deviation in filtering value between the first estimated value and the second estimated value, and the increasing/decreasing manipulated variable determining means 34—3 determines ??—1 according to the deviation between the first estimated value and the second estimated value.

Abstract: A front-wheel speed is calculated as a wheel speed of driving wheels, a rear-wheel speed is calculated as a wheel speed of driven wheels, a rear-wheel acceleration is calculated as a wheel acceleration of the driven wheels, a front-wheel-speed difference value is calculated as a driving-wheel-speed difference value, a rear-wheel-speed difference value is calculated as a driven-wheel-speed difference value, a rear-wheel-acceleration difference value is calculated as a driven-wheel-acceleration difference value, and a front-wheel ground load is calculated as a ground load acting on the driving wheels. Based on these calculated values, a gradient of a tire-characteristic curve indicating an amount of change in road-surface friction coefficient with respect to an amount of change in slip rate is calculated, and the calculated gradient of the tire-characteristic curve is compared with preset threshold values, whereby a road-surface friction coefficient as a road-surface condition can be determined.

Abstract: A vehicle includes a braking force application device that executes braking force holding control which holds braking force irrespective of braking operation by a driver during a stop on a slope; and a control limiting device that limits execution of the braking force holding control when a shift position is set in a neutral position.

Abstract: A vehicular wireless communication apparatus disposed in a subject vehicle determines whether a travel locus of the subject vehicle is similar to a travel locus of a lead vehicle. When the travel locus of the subject vehicle and the lead vehicle are similar, the apparatus transmits the lead vehicle's device identification (ID) and a latest position information of the subject vehicle in place of travel locus information of the subject vehicle from the apparatus to other vehicles at regular interval.

Abstract: The application relates to a device and a method for increasing the safety of a motor vehicle. A first sensor unit (2) senses the surroundings, in particular in order to detect free spaces and objects (0), and the position and movement thereof. A second sensor unit (20) senses the state of the surroundings, a third sensor unit (30) senses the state of the vehicle, and a fourth sensor unit (40) senses the driver's commands. The data are merged and a driving safety coordinator (6) determines at least one reliable driving corridor (K1, K2, K3, K4 to Kn) predictively and situationally in order to determine the operational safety. The driver's command can be limited to the driving corridor (K1, K2, K3, K4 to Kn) by means of components (9) which can be actuated actively and/or the motor vehicle (1) can be kept in the driving corridor (K1, K2, K3, K4 to Kn) by means of the components (9) which can be actuated actively.

Abstract: A braking-force control device has a brake control function for performing brake control on a front outside wheel when a vehicle is detected to be in an oversteer condition during a turning operation and for performing brake control on a rear inside wheel when the vehicle is detected to be in an understeer condition during a turning operation. For preventing the oversteer condition, a command for reducing the engine torque is output. On the other hand, for preventing the understeer condition, the engine torque is limited in accordance with a permissible engine torque value that is calculated on the basis of a road-surface friction coefficient, and ground loads and lateral tire forces of individual wheels. If it is detected that engine braking is in operation, the engine torque is adjusted to substantially zero.

Abstract: This invention relates to a computer network for calculating and distributing the true braking coefficient of aircraft on runways and taxiways using a computer which obtains data from an aircraft, including in some preferable embodiments dynamic aircraft properties recorded on the aircraft's flight data management system. Environmental and aircraft parameters may also be used to calculate the braking friction coefficient. A computer and network are used to obtain data and to calculate the friction coefficient, and may be used to distribute the result. The network may utilize, at least in part, wireless local area networks to facilitate data transfer and distribution of the result. The computer for calculating the braking coefficient may be located on the aircraft.