GB2257403A - Road vehicle stability indicating system. - Google Patents

Road vehicle stability indicating system. Download PDF

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Publication number
GB2257403A
GB2257403A GB9213907A GB9213907A GB2257403A GB 2257403 A GB2257403 A GB 2257403A GB 9213907 A GB9213907 A GB 9213907A GB 9213907 A GB9213907 A GB 9213907A GB 2257403 A GB2257403 A GB 2257403A
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GB
Grant status
Application
Patent type
Prior art keywords
vehicle
system
accelerometer
stability
signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
GB9213907A
Other versions
GB9213907D0 (en )
Inventor
David Lewis John Dunbar
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
* SIMON GLOSTER SARO Ltd
Gloster Saro Ltd
Original Assignee
Gloster Saro Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17Using electrical or electronic regulation means to control braking
    • B60T8/1755Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS, IN VEHICLES
    • B60K28/00Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
    • B60K28/16Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to, or preventing, skidding of wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/06Tractor-trailer swaying
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/12Lateral speed
    • B60W2520/125Lateral acceleration

Abstract

The system comprises a sensor 10 for producing a signal representative of sideways acceleration and/or angle of tilt of the vehicle, and electronic processing means responsive to said signal for providing an indication of an approaching condition of instability of the vehicle. The sensor 10 is in the form of an accelerometer supported by resilient mountings so as not to be responsive to high frequency vibration. The tractor and trailer of an articulated vehicle may each be provided with an accelerometer. The processing means may include an algorithm 19 for detecting snaking of the vehicle. Road speed and/or angle of steer may also be detected for greater accuracy of indication. <IMAGE>

Description

ROAD VEHICLE STABILITY INDICATING <RTI>SYSTEM</RTI> This invention relates to a system for indicating the stability (or instability) of a road vehicle.

A problem exists in the operation of heavy road vehicles, and particularly in the case of long articulated trucks, container transport vehicles and fuel tankers in that an individual vehicle can, when turning, reach an instability point where only an experienced driver is able to take the required corrective action. Such an instability point can be reached when a vehicle is travelling at either high or low speed, and, when it occurs, the vehicle may turn over or go out of control if the driver does not take, or is not capable of taking, immediate action to correct the situation.

GB 2222560 proposes a system for alerting a driver of an approaching condition of instability. This system relies on monitoring the road speed and angle of steer of the vehicle, but it has been found that this system is not entirely satisfactory as other factors contribute to vehicle instability. These include the camber angle of the road, crosswind and the weight and distribution of the payload. Surge on tankers is also a factor and snaking, such as takes place at a roundabout, tends to cause the vehicle to act like a pendulum and have a lower instability threshold.

The present invention seeks to provide a stability indicating system which provides a more accurate indication of an approaching condition of instability than is possible with the system proposed previously.

According to the present invention, there is provided a stability indicating system for a road vehicle, comprising a sensor for producing a signal representative of sideways acceleration and/or angle of tilt of the vehicle, and electronic processing means responsive to said signal for providing an indication of an approaching condition of instability of the vehicle.

Preferably, the sensor produces a signal representative of sideways acceleration and angle of tilt of the vehicle.

Preferably, the processing means is able to sense when the vehicle is snaking.

The electronic processing means may also be responsive to a signal or signals representative of road speed and/or angle of steer of the vehicle in order to provide an indication of an approaching condition of instability of the vehicle.

Preferably, the stability indicating system also includes an audible and/or visual warning device operable by the processing means for alerting the driver of the vehicle of an approaching condition of instability.

Advantageously, the warning given by the audible and/or visual warning device is progressive.

For example, an audible warning can become louder or a visual flashing warning indicator can increase its rate of flashing as the instability point is more closely approached. The warning should, of course, be sufficiently in anticipation of the instability point to give an inexperienced driver the opportunity to take corrective action.

The system is preferably calibrated in accordance with vehicle parameters.

Preferably, the sensor is supported by resilient mountings so as not to be responsive to high frequency vibration.

The invention will now be more particularly described, by way of example, with reference to the accompanying drawings, in which: Figure 1 is a schematic view of one embodiment of stability indicating system according to the present invention, Figure 2 is a plan view showing the sensor of Figure 1 and a mounting therefor, and Figure 3 is a block diagram showing the system of Figure 1 in more detail.

Referring to the drawings, the stability indicating system shown therein comprises a sensor in the form of an accelerometer 10, an electronic processing device 11, and an audible and/or visual warning device 12.

The accelerometer 10 is supported in a slot 14a in a metal block 14 by one of a pair of L-shaped brackets 13. The block 14 is attached to four upstanding, equi-angularly spaced, posts 15 by resilient mountings 16. The posts 15 are secured to a road vehicle (not shown) with the longitudinal extent of the slot 14a parallel to an axis extending fore-and-aft of the vehicle. The resilient mountings 16 ensure that the accelerometer 10 does not see high frequency vibrations generated in the vehicle.

The accelerometer 10 is typically a solidstate, piezoresistive accelerometer such as the accelerometer sold by EuroSensor of 20-24 Kirby Street, London under Model No. 3110. Alternatively, the accelerometer could be a solid state, capacitive accelerometer such as that made by Access Sensors S.A., of Les Charbonnieres, Switzerland under Model No. AMD CK/0-A-1.

The accelerometer 10 responds to lateral movement of the vehicle. The frequency response of the accelerometer extends from d.c. and is limited by a two pole low pass filter at 5Hz. Since the frequency response extends down to d.c., the normal acceleration due to gravity is sensed in addition to sideways acceleration of the vehicle. The accelerometer 10 thus produces a signal representative of sideways acceleration and angle of tilt of the vehicle.

The output signal of the accelerometer 10 is converted by an analogue to digital converter 17 and the digital output signal of the converter 17 is sampled regularly. A digital filter algorithm is applied to average out noise and random fluctuations. Within each sampling period the acceleration and rate of acceleration are stored. If the acceleration is greater than a threshold value then the rate of change of acceleration is combined with the acceleration using a predictive algorithm 18. This value is compared with a predetermined value stored in the processing device 11 and obtained from information relating to vehicle type and characteristics. If the value obtained by the algorithm 18 exceeds this predetermined value, the processing device 11 sends an energising signal to the warning device 12 in order to alert the driver of the vehicle of an approaching condition of instability.

The electric processing device 11 also senses when a vehicle is snaking by noting relative sudden changes in sign of the accelerometer output signal and lowers the threshold at which it sends an energising signal to the warning device 12 by reducing the aforesaid predetermined value stored in the processing device 11 when a snake condition is sensed.

Snaking is sensed by a snake detection algorithm 19 which measures the frequency of oscillation and the amplitude of oscillation of the accelerometer output signal. A snake condition is deemed to exist when the frequency of oscillation is within predetermined maximum and minimum limits and is above a minimum amplitude.

A zero crossing detector (not shown) is employed to detect left and right swings of the vehicle. The time interval between successive zero crossings is measured and the frequency of oscillation can thus be determined.

A peak detector (not shown) is employed to measure the peak value of the accelerometer output signal for each left and right swing.

The stability indicating system also has a number of digital inputs 20 connected to the processing device 11 by a digital interface 21 for calibration and commissioning of the system, and an interface 22 for a communication system 23 which can be used to set up the main parameters for the algorithms 18 and 19 and which can be used to display stability and snake parameters.

The accelerometer 10 may be secured to the vehicle at any appropriate place and in the case of an articulated vehicle it may be secured to either the tractor or the trailer of the vehicle provided it is appropriately calibrated. Indeed, an articulated vehicle may have two accelerometers, one secured to the tractor and one secured to the trailer and in this case the electronic processing device 11 would be designed to monitor the signals from both accelerometers.

Ideally, the electronic processing device 11 and warning device 12 are designed as a single unit and are located in the driver's cab.

The accelerometer 10 gives a more accurate indication of the stability of the vehicle than is obtained by speed and steer angle sensors, as it more accurately reflects the actual forces experienced by the vehicle and takes account of such factors as prevailing wind conditions and payload distribution. Also, the angle of tilt component of the accelerometer signal takes account of the camber angle of the road.

The energising signal fed by the processing device 11 to the warning device 12 may increase progressively, either in amplitude or repetition rate, as a condition of instability is approached.

It may be found to be beneficial to monitor road speed and/or angle of steer of the vehicle, in addition to sideways acceleration, in order to even more accurately detect a condition of approaching instability and in this case appropriate sensors will be provided.

The electronic processing device can also be arranged to provide a hard copy read-out to enable assessments to be made of driver behaviour.

In some circumstances it may be desirable for the sensor to produce a signal representaive of only sideways acceleration or of only angle of tilt. This may be possible, inter alia, by applying an appropriate filter to the output of the accelerometer.

Claims (12)

1. A stability indicating system for a road vehicle, comprising a sensor for producing a signal representative of sideways acceleration and/or angle of tilt of the vehicle, and electronic processing means responsive to said signal for providing an indication of an approaching condition of instability of the vehicle.
2. A stability indicating system as claimed in claim 1, wherein the sensor produces a signal representative of sideways acceleration and angle of tilt of the vehicle.
3. A stability indicating system as claimed in claim 1 or claim 2, wherein the processing means is able to sense when the vehicle is snaking.
4. A stability indicating system as claimed in any one of the preceding claims, wherein the electronic processing means is also responsive to a signal or signals representative of road speed and/or angle of steer of the vehicle in order to provide an indication of an approaching condition of instability of the vehicle.
5. A stability indicating system as claimed in any one of the preceding claims, wherein the stability indicating system also includes an audible and/or visual warning device operable by the processing means for alerting the driver of the vehicle of an approaching condition of instability.
6. A stability indicating system as claimed in claim 5, wherein the processing means is arranged so as to progressively increase the energising signal which it sends to the -warning device as a condition of instability approaches.
7. A stability indicating system as claimed in any one of the preceding claims, wherein the system is calibrated in accordance with parameters of the vehicle for which it is intended.
8. A stability indicating system as claimed in any one of the preceding claims, wherein the sensor is supported by resilient mountings.
9. A stability indicating system as claimed in any one of the preceding claims, wherein the sensor is in the form of an accelerometer.
10. A stability indicating system as claimed in claim 9, wherein the accelerometer is a solid state, piezoresistive or capacitive accelerometer.
11. A stability indicating system substantially as hereinbefore described with reference to the accompanying drawings.
12. A vehicle equipped with a stability indicating system as claimed in any one of the preceding claims.
GB9213907A 1991-07-06 1992-06-30 Road vehicle stability indicating system Pending GB9213907D0 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
GB9114652A GB9114652D0 (en) 1991-07-06 1991-07-06 Road vehicle stability indicating system
GB9213907A GB9213907D0 (en) 1991-07-06 1992-06-30 Road vehicle stability indicating system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB9213907A GB9213907D0 (en) 1991-07-06 1992-06-30 Road vehicle stability indicating system

Publications (2)

Publication Number Publication Date
GB9213907D0 GB9213907D0 (en) 1992-08-12
GB2257403A true true GB2257403A (en) 1993-01-13

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Family Applications (1)

Application Number Title Priority Date Filing Date
GB9213907A Pending GB9213907D0 (en) 1991-07-06 1992-06-30 Road vehicle stability indicating system

Country Status (1)

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GB (1) GB9213907D0 (en)

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2274274A (en) * 1993-01-19 1994-07-20 Port Of Singapore Authority Container transporting trailer
WO1999026811A1 (en) * 1997-11-22 1999-06-03 Robert Bosch Gmbh Method and device for detecting motor vehicle tilt
WO1999026812A1 (en) * 1997-11-22 1999-06-03 Robert Bosch Gmbh Method and device for detecting motor vehicle tilt
WO1999026810A1 (en) * 1997-11-22 1999-06-03 Robert Bosch Gmbh Method and device for detecting motor vehicle tilt
WO2001002228A1 (en) * 1999-06-30 2001-01-11 Robert Bosch Gmbh Method and device for identifying a rolling motion in a vehicle
WO2001002227A1 (en) * 1999-06-30 2001-01-11 Robert Bosch Gmbh Method and device for stabilizing a vehicle
US6263261B1 (en) 1999-12-21 2001-07-17 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle
US6324446B1 (en) 1999-12-21 2001-11-27 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle
US6332104B1 (en) 1999-12-21 2001-12-18 Ford Global Technologies, Inc. Roll over detection for an automotive vehicle
EP1167141A1 (en) * 2000-06-20 2002-01-02 KNORR-BREMSE SYSTEME FÜR NUTZFAHRZEUGE GmbH Stabilization of articulated trains
WO2002006101A1 (en) 2000-07-13 2002-01-24 Robert Bosch Gmbh Method and device for stabilizing a road vehicle
US6397127B1 (en) 2000-09-25 2002-05-28 Ford Global Technologies, Inc. Steering actuated wheel lift identification for an automotive vehicle
DE10210155A1 (en) * 2002-03-07 2003-09-18 Bayerische Motoren Werke Ag Oscillation monitoring circuit for motor vehicle trailer has sensor connected to driver alarm and operating a critical weave speed for trailer
US6654674B2 (en) 2001-11-21 2003-11-25 Ford Global Technologies, Llc Enhanced system for yaw stability control system to include roll stability control function
US6799092B2 (en) 2001-02-21 2004-09-28 Ford Global Technologies, Llc Rollover stability control for an automotive vehicle using rear wheel steering and brake control
US6834218B2 (en) 2001-11-05 2004-12-21 Ford Global Technologies, Llc Roll over stability control for an automotive vehicle
DE20316698U1 (en) * 2003-10-30 2005-03-17 Knott Gmbh Trailer towing bar with sway control, has device for monitoring damping produced by stabilizing device by measuring damping force or moment
US7653471B2 (en) 2003-02-26 2010-01-26 Ford Global Technologies, Llc Active driven wheel lift identification for an automotive vehicle
US7660654B2 (en) 2004-12-13 2010-02-09 Ford Global Technologies, Llc System for dynamically determining vehicle rear/trunk loading for use in a vehicle control system
US7668645B2 (en) 2004-10-15 2010-02-23 Ford Global Technologies System and method for dynamically determining vehicle loading and vertical loading distance for use in a vehicle dynamic control system
US7715965B2 (en) 2004-10-15 2010-05-11 Ford Global Technologies System and method for qualitatively determining vehicle loading conditions
WO2011057854A1 (en) 2009-11-11 2011-05-19 Nilfisk-Advance S.P.A. Improved floor and pavement treatment and cleaning vehicle
US8005592B2 (en) 2005-11-09 2011-08-23 Ford Global Technologies System for dynamically determining axle loadings of a moving vehicle using integrated sensing system and its application in vehicle dynamics controls
US8121758B2 (en) 2005-11-09 2012-02-21 Ford Global Technologies System for determining torque and tire forces using integrated sensing system
US8311706B2 (en) 2005-09-19 2012-11-13 Ford Global Technologies Integrated vehicle control system using dynamically determined vehicle conditions
US9162656B2 (en) 2003-02-26 2015-10-20 Ford Global Technologies, Llc Active driven wheel lift identification for an automotive vehicle

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US4952908A (en) * 1988-06-20 1990-08-28 Navistar International Transportation Corp. Trailer stability monitor

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GB1395372A (en) * 1972-07-26 1975-05-29 Mize L A Vehicles having anti-overturning warning systems
GB1406314A (en) * 1972-10-03 1975-09-17 Coupe N T Tilt warning apparatus
GB1552790A (en) * 1976-07-06 1979-09-19 Albert O Drive Pty Ltd Vehicle warning devices
GB2088606A (en) * 1980-12-03 1982-06-09 Motor Industry Research Ass Th Roll-over warning device
EP0093832A1 (en) * 1982-05-11 1983-11-16 Spyridon Vesyris Safety device in a vehicle
US4952908A (en) * 1988-06-20 1990-08-28 Navistar International Transportation Corp. Trailer stability monitor

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Cited By (49)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2274274A (en) * 1993-01-19 1994-07-20 Port Of Singapore Authority Container transporting trailer
GB2274274B (en) * 1993-01-19 1995-10-04 Port Of Singapore Authority A cargo container trailer
WO1999026811A1 (en) * 1997-11-22 1999-06-03 Robert Bosch Gmbh Method and device for detecting motor vehicle tilt
WO1999026812A1 (en) * 1997-11-22 1999-06-03 Robert Bosch Gmbh Method and device for detecting motor vehicle tilt
WO1999026810A1 (en) * 1997-11-22 1999-06-03 Robert Bosch Gmbh Method and device for detecting motor vehicle tilt
US6272420B1 (en) 1997-11-22 2001-08-07 Robert Bosch Gmbh Method and device for detecting motor vehicle tilt
US6311111B1 (en) 1997-11-22 2001-10-30 Robert Bosch Gmbh Method and device for detecting motor vehicle tilt
US6321141B1 (en) 1997-11-22 2001-11-20 Robert Bosch Gmbh Method and device for detecting motor vehicle tilt
WO2001002228A1 (en) * 1999-06-30 2001-01-11 Robert Bosch Gmbh Method and device for identifying a rolling motion in a vehicle
WO2001002227A1 (en) * 1999-06-30 2001-01-11 Robert Bosch Gmbh Method and device for stabilizing a vehicle
US6523911B1 (en) 1999-06-30 2003-02-25 Robert Bosch Gmbh Method and device for stabilizing a vehicle
US6600974B1 (en) 1999-06-30 2003-07-29 Robert Bosch Gmbh Method and device for identifying a rolling motion in a vehicle
US6332104B1 (en) 1999-12-21 2001-12-18 Ford Global Technologies, Inc. Roll over detection for an automotive vehicle
US6263261B1 (en) 1999-12-21 2001-07-17 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle
US6338012B2 (en) 1999-12-21 2002-01-08 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle
US6324446B1 (en) 1999-12-21 2001-11-27 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle
US6496758B2 (en) 1999-12-21 2002-12-17 Ford Global Technologies, Inc. Rollover stability control for an automotive vehicle using front wheel actuators
US6529803B2 (en) 1999-12-21 2003-03-04 Ford Global Technologies, Inc. Roll over stability control for an automotive vehicle having rear wheel steering
EP1167141A1 (en) * 2000-06-20 2002-01-02 KNORR-BREMSE SYSTEME FÜR NUTZFAHRZEUGE GmbH Stabilization of articulated trains
DE10034222A1 (en) * 2000-07-13 2002-01-31 Bosch Gmbh Robert A method unf device for stabilizing a road vehicle
WO2002006101A1 (en) 2000-07-13 2002-01-24 Robert Bosch Gmbh Method and device for stabilizing a road vehicle
US6397127B1 (en) 2000-09-25 2002-05-28 Ford Global Technologies, Inc. Steering actuated wheel lift identification for an automotive vehicle
US6799092B2 (en) 2001-02-21 2004-09-28 Ford Global Technologies, Llc Rollover stability control for an automotive vehicle using rear wheel steering and brake control
US6834218B2 (en) 2001-11-05 2004-12-21 Ford Global Technologies, Llc Roll over stability control for an automotive vehicle
US6654674B2 (en) 2001-11-21 2003-11-25 Ford Global Technologies, Llc Enhanced system for yaw stability control system to include roll stability control function
DE10210155A1 (en) * 2002-03-07 2003-09-18 Bayerische Motoren Werke Ag Oscillation monitoring circuit for motor vehicle trailer has sensor connected to driver alarm and operating a critical weave speed for trailer
US9162656B2 (en) 2003-02-26 2015-10-20 Ford Global Technologies, Llc Active driven wheel lift identification for an automotive vehicle
US7653471B2 (en) 2003-02-26 2010-01-26 Ford Global Technologies, Llc Active driven wheel lift identification for an automotive vehicle
DE20316698U1 (en) * 2003-10-30 2005-03-17 Knott Gmbh Trailer towing bar with sway control, has device for monitoring damping produced by stabilizing device by measuring damping force or moment
US7877199B2 (en) 2004-10-15 2011-01-25 Ford Global Technologies System and method for dynamically determining vehicle loading and vertical loading distance for use in a vehicle dynamic control system
US7715965B2 (en) 2004-10-15 2010-05-11 Ford Global Technologies System and method for qualitatively determining vehicle loading conditions
US7877178B2 (en) 2004-10-15 2011-01-25 Ford Global Technologies System and method for dynamically determining vehicle loading and vertical loading distance for use in a vehicle dynamic control system
US7668645B2 (en) 2004-10-15 2010-02-23 Ford Global Technologies System and method for dynamically determining vehicle loading and vertical loading distance for use in a vehicle dynamic control system
US7877201B2 (en) 2004-10-15 2011-01-25 Ford Global Technologies System and method for dynamically determining vehicle loading and vertical loading distance for use in a vehicle dynamic control system
US7877200B2 (en) 2004-10-15 2011-01-25 Ford Global Technologies System and method for dynamically determining vehicle loading and vertical loading distance for use in a vehicle dynamic control system
US7899594B2 (en) 2004-10-15 2011-03-01 Ford Global Technologies System and method for qualitatively determining vehicle loading conditions
US8050857B2 (en) 2004-10-15 2011-11-01 Ford Global Technologies System and method for dynamically determining vehicle loading and vertical loading distance for use in a vehicle dynamic control system
US8005596B2 (en) 2004-12-13 2011-08-23 Ford Global Technologies System for dynamically determining vehicle rear/trunk loading for use in a vehicle control system
US8346433B2 (en) 2004-12-13 2013-01-01 Ford Global Technologies System for dynamically determining vehicle rear/trunk loading for use in a vehicle control system
US7660654B2 (en) 2004-12-13 2010-02-09 Ford Global Technologies, Llc System for dynamically determining vehicle rear/trunk loading for use in a vehicle control system
US8219282B2 (en) 2004-12-13 2012-07-10 Ford Global Technologies System for dynamically determining vehicle rear/trunk loading for use in a vehicle control system
US8311706B2 (en) 2005-09-19 2012-11-13 Ford Global Technologies Integrated vehicle control system using dynamically determined vehicle conditions
US8352143B2 (en) 2005-09-19 2013-01-08 Ford Global Technologies Integrated vehicle control system using dynamically determined vehicle conditions
US8442720B2 (en) 2005-09-19 2013-05-14 Ford Global Technologies Integrated vehicle control system using dynamically determined vehicle conditions
US8346452B2 (en) 2005-09-19 2013-01-01 Ford Global Technologies Integrated vehicle control system using dynamically determined vehicle conditions
US8121758B2 (en) 2005-11-09 2012-02-21 Ford Global Technologies System for determining torque and tire forces using integrated sensing system
US8005592B2 (en) 2005-11-09 2011-08-23 Ford Global Technologies System for dynamically determining axle loadings of a moving vehicle using integrated sensing system and its application in vehicle dynamics controls
US8490737B2 (en) 2009-11-11 2013-07-23 Nilfisk-Advance A/S Floor and pavement treatment and cleaning vehicle
WO2011057854A1 (en) 2009-11-11 2011-05-19 Nilfisk-Advance S.P.A. Improved floor and pavement treatment and cleaning vehicle

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