Towing vehicle controller using trailer braking strategy and trailer braking control method

• US 10,549,732 B2
• Filed: 07/25/2018
• Issued: 02/04/2020
• Est. Priority Date: 09/15/2017
• Status: Active Grant

• Current Assignee: Bendix Commercial Vehicle Systems LLC (Estate of Heinz Hermann Thiele)
• Original Assignee: Bendix Commercial Vehicle Systems LLC (Estate of Heinz Hermann Thiele)
• Inventors: Kasper, Phillip J., Pilkington, Andrew J., Sasmal, Subashish, Carbaugh, Jeffrey M., Carritte, Timothy, Broyles, Nicholas A., Tober, Michael D.
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Greene, Daniel L
• Application Number:
  US16/045,490
• Publication Number:
  US 20190084533A1
• Time in Patent Office: 559 Days
• CPC Class Codes: B60T 13/683 in pneumatic systems or parts thereof in vacuum systems B60T13/72
• CPC Class Codes: B60T 2210/36 Global Positioning System [GPS]
• CPC Class Codes: B60T 2220/04 Pedal travel sensor, stroke sensor; Sensing brake request
• CPC Class Codes: B60T 2240/00 Monitoring, detecting wheel/tire behaviour; counteracting thereof
• CPC Class Codes: B60T 2250/00 Monitoring, detecting, estimating vehicle conditions
• CPC Class Codes: B60T 2250/02 Vehicle mass
• CPC Class Codes: B60T 2250/03 Vehicle yaw rate
• CPC Class Codes: B60T 2260/04 Automatic transmission
• CPC Class Codes: B60T 2270/10 ABS control systems
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60T 7/20 specially for trailers, e.g. in case of uncoupling of or overrunning by trailer inertia-actuated overrun brakes B60T13/08
• CPC Class Codes: B60T 8/1701 Braking or traction control means specially adapted for particular types of vehicles for vehicles having more than one drive axle B60T8/1769
• CPC Class Codes: B60T 8/1708 for lorries or tractor-trailer combinations
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60T 8/17616 Microprocessor-based systems
• CPC Class Codes: B60T 8/321 deceleration B60T8/34, B60T8/52, B60T8/54, B60T8/56, B60T8/58, B60T8/72, B60T8/86, B60T8/88 take precedence
• CPC Class Codes: B60T 8/323 Systems specially adapted for tractor-trailer combinations
• CPC Class Codes: G08G 1/052 with provision for determining speed or overspeed speed measuring in general G01P
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A braking controller and method in a towing vehicle towing one or more towed vehicles as a combination vehicle provides brake control of the one or more towed vehicles based on a level of braking force applied to the towing vehicle. A non-enhanced braking mode applies a first level of braking force to the towed vehicles in a predetermined reduced proportion relative to the level of braking force applied to the towing vehicle, and an enhanced braking mode applies a second level of braking force to the towed vehicles greater than the first level of braking force. A controller deceleration command input receives a deceleration command signal which is compared against predetermined threshold deceleration rate value or against a current deceleration value being executed by the combination vehicle and, based on a result of the comparisons, either the enhanced or the non-enhanced braking modes are implemented by the controller.

Claims

1. A braking control device for use in an associated towing vehicle towing one or more associated towed vehicles as an associated combination vehicle for providing brake control enhancement to the one or more towed vehicles relative to a level of braking applied to the towing vehicle, the braking control device comprising:

a processor;

a forward relative distance input operatively coupled with the processor, the forward relative distance input selectively receiving a forward relative distance signal comprising forward relative distance data representative of a forward relative distance between the towing vehicle of the combination vehicle and an associated vehicle traveling forward of the combination vehicle;

a non-transient memory device operatively coupled with the processor, the non-transient memory device storing braking deceleration threshold data representative of a predetermined threshold deceleration rate value related to a predetermined threshold deceleration rate of the combination vehicle when operating the combination vehicle in a non-enhanced braking mode applying a first level of braking to the one or more towed vehicles in a predetermined reduced proportion relative to the level of braking being applied to the towing vehicle; and

control logic stored in the non-transient memory device, the control logic being executable by the processor to;

determine, based on the forward relative distance, a forward relative speed between the towing vehicle of the combination vehicle and the associated vehicle traveling forward of the combination vehicle;

determine, in accordance with the forward relative distance and the forward relative speed, an automatic deceleration command value required to mitigate a chance of a collision between the towing vehicle of the combination vehicle and the associated vehicle traveling forward of the towing vehicle;

perform a comparison between the predetermined threshold deceleration rate value and the automatic deceleration command value; and

determine a braking mode of the one or more towed vehicles of the combination vehicle as a one of;

the non-enhanced braking mode applying the first level of braking to the one or more towed vehicles in accordance with a first result of the comparison between the predetermined threshold deceleration rate value and the automatic deceleration command value, or

an enhanced braking mode applying a second level of braking to the one or more towed vehicles greater than the first level of braking in accordance with a second result of the comparison between the predetermined threshold deceleration rate value and the automatic deceleration command value, the second result of the comparison being different than the first result of the comparison.

2. The braking control device according to claim 1, wherein the control logic is executable by the processor to, responsive to receiving the deceleration command signal:

selectively generate, based on the first result of the comparison between the predetermined threshold deceleration rate value and the automatic deceleration command value, a first brake control transmission signal to effect the automatic deceleration command value in accordance with the non-enhanced braking mode; and

selectively generate, based on the second result of the comparison between the predetermined threshold deceleration rate value and the automatic deceleration command value, a second brake control transmission signal to effect the automatic deceleration command value in accordance with the enhanced braking mode.

3. The braking control device according to claim 2, further comprising:

a brake signal output operatively coupled with the processor, the brake signal output selectively transmitting a one of the first or second brake control transmission signals from the braking control device;

brake pedal timeout data stored in the non-transient memory device, the brake pedal timeout data being representative of a predetermined response time for a physical actuation of a brake pedal by an associated operator of the towing vehicle; and

a brake pedal actuation input operatively coupled with the processor, the brake pedal actuation input selectively receiving from an associated brake pedal sensor a brake pedal actuation signal comprising brake pedal actuation data representative of the physical actuation of the brake pedal by the associated operator of the towing vehicle,

wherein the control logic is executable by the processor to, responsive to determining the enhanced braking mode;

generate a brake warning signal comprising brake warning data representative of an imminent need for the combination vehicle to perform a deceleration maneuver in excess of the deceleration rate of the combination vehicle when operating the combination vehicle in the non-enhanced braking mode;

reset a pedal wait count time value stored in the non-transient memory device to a reset time value;

initiate a pedal timer incrementing the pedal wait count time value from the reset time value;

selectively transmit the first brake control transmission signal via the brake signal output responsive to the pedal wait count time value being less than the predetermined response time without receiving the brake pedal actuation signal; and

selectively transmit the second brake control transmission signal in lieu of the first brake control transmission signal via the brake signal output responsive to the pedal wait count time value being greater than the predetermined response time.

4. The braking control device according to claim 3, further comprising:

a transmitter device operatively coupled with the processor, the transmitter device being configured to receive message data and to transmit the message data as a message signal comprising the message data,

wherein the transmitter device selectively receives the brake warning data and transmits the brake warning data as a brake warning signal comprising the brake warning data to an associated receiver of an associated vehicle other than the towing and one or more towed vehicles.

5. The braking control device according to claim 2, further comprising:

a brake signal output operatively coupled with the processor, the brake signal output selectively transmitting a one of the first or second brake control transmission signals from the braking control device; and

an anti-lock braking system (ABS) capability input operatively coupled with the processor, the ABS capability input selectively receiving an ABS functionality signal from the one or more towed vehicles of the combination vehicle, the ABS functionality signal comprising ABS functionality data representative of a functional ABS capability of the one or more towed vehicles of the combination vehicle,

wherein the control logic is executable by the processor to, responsive to receiving the ABS functionality signal and to determining the enhanced braking mode;

selectively transmit the second brake control transmission signal via the brake signal output.

6. The braking control device according to claim 2, further comprising:

a brake signal output operatively coupled with the processor, the brake signal output selectively transmitting a one of the first or second brake control transmission signals from the braking control device;

combination vehicle stability data stored in the non-transient memory device, the combination vehicle stability data being representative of a predetermined combination vehicle stability value reflecting a stable driving condition of the combination vehicle; and

a set of one or more vehicle characteristic inputs operatively coupled with the processor, the set of one or more vehicle characteristic inputs selectively receiving a corresponding set of vehicle characteristic signals, each of the set of vehicle characteristic signals comprising vehicle characteristic data representative of a physical characteristic of the combination vehicle,

wherein the control logic is executable by the processor to determine a dynamic stability value of the combination vehicle in accordance with the set of vehicle characteristic data,

wherein the control logic is executable by the processor to;

selectively determine the non-enhanced braking mode applying the first level of braking to the one or more towed vehicles in accordance with a first result of a comparison between the predetermined combination vehicle stability value and the dynamic stability value, or

selectively determine the enhanced braking mode applying the second level of braking to the one or more towed vehicles in accordance with a second result of the comparison between the predetermined combination vehicle stability value and the dynamic stability value, the second result of the comparison being different than the first result of the comparison.

7. The braking control device according to claim 6, wherein:

the set of one or more vehicle characteristic inputs comprises;

a wheel slip input for receiving from one or more associated wheel slip sensors a wheel slip signal comprising wheel slip data representative of wheel slippage of one or more wheels of the towing and/or the one or more towed vehicles; and

the control logic is executable by the processor to determine the dynamic stability value of the combination vehicle in accordance with the wheel slip data.

8. The braking control device according to claim 6, wherein:

the set of one or more vehicle characteristic inputs comprises;

a combination vehicle yaw rate input for receiving from one or more associated yaw sensors a yaw rate signal comprising yaw rate data representative of a yaw rate of one or more of the towed and/or towing vehicles;

a steering angle input for receiving from an associated steering angle sensor a steering angle signal comprising steering angle data representative of a steering angle of a steerable wheel of the towing vehicle;

a lateral acceleration input for receiving from one or more associated acceleration sensors a lateral acceleration signal comprising lateral acceleration data representative of a lateral acceleration of the towed and/or towing vehicles; and

/or

a wheel speed input for receiving from one or more associated wheel speed sensors a wheel speed signal comprising wheel speed data representative of wheel speed of one or more wheels of the towing and/or the one or more towed vehicles; and

the control logic is executable by the processor to;

determine a curvilinear travel path value representative of a curvilinear path travelled by the combination vehicle in accordance with one or more of the yaw rate data, the steering angle data, the lateral acceleration data, and/or the wheel speed data; and

the control logic is executable by the processor to determine the dynamic stability value of the combination vehicle in accordance with the curvilinear travel path value.

9. The braking control device according to claim 6, wherein:

the non-transient memory device stores a set of desired dynamic stability values as a dynamic stability map representative of a mapping of the set of one or more vehicle characteristic inputs onto a plurality of instantaneous stability values representative of a corresponding plurality of instantaneous stability determinations of the combination vehicle relative to a range of operating conditions of the combination vehicle;

the set of one or more vehicle characteristic inputs comprises;

a load input for receiving from one or more associated load sensors a weight signal comprising weight data representative of a weight of a selected portion of the combination vehicle;

a towed and/or towing vehicle combination yaw rate input for receiving from one or more associated yaw sensors a yaw rate signal comprising yaw rate data representative of a yaw rate of one or more of the towed and/or towing vehicles;

a steering angle input for receiving from an associated steering angle sensor a steering angle signal comprising steering angle data representative of a steering angle of a steerable wheel of the towing vehicle;

a lateral acceleration input for receiving from one or more associated acceleration sensors a lateral acceleration signal comprising lateral acceleration data representative of a lateral acceleration of the towed and/or towing vehicles; and

/or

a wheel speed input for receiving from one or more associated wheel speed sensors a wheel speed signal comprising wheel speed data representative of wheel speed of one or more wheels of the towing and/or the one or more towed vehicles; and

the control logic is executable by the processor to determine the dynamic stability value of the combination vehicle by;

applying the set of one or more vehicle characteristic inputs to the dynamic stability map; and

assigning an output of the mapping to the dynamic stability value.

10. The braking control device according to claim 9, wherein:

the load input of the set of one or more vehicle characteristic inputs comprises;

a combination vehicle load input for receiving an overall combined weight signal comprising overall combined weight data representative of an overall combined weight of the combination vehicle.

11. The braking control device according to claim 9, wherein:

the load input of the set of one or more vehicle characteristic inputs comprises;

an allocated vehicle load input for receiving an allocated weight signal comprising weight data representative of a weight allocated to a selected portion of the combination vehicle.

12. The braking control device according to claim 2, further comprising:

a brake control output operatively coupled with the processor and with an associated brake control actuator, the associated brake control actuator being configured to deliver brake pressure to the one or more towed vehicles in response to an actuator control signal delivered to the associated brake control actuator via the brake control output; and

wherein the control logic is executable by the processor to implement the enhanced braking mode by controlling the actuator control signal to one or more of;

increase a high pulse time of a modulated brake pressure applied by the towing vehicle to the one or more towed vehicles via the associated brake control actuator;

decrease a low pulse time of the modulated brake pressure applied by the towing vehicle to the one or more towed vehicles via the associated brake control actuator; and

/or

increase values of one or more pulses of the modulated brake pressure applied by the towing vehicle to the one or more towed vehicles via the associated brake control actuator.

13. The braking control device according to claim 2, further comprising:

a brake control output operatively coupled with the processor and with an associated brake control actuator, the associated brake control actuator being configured to deliver brake pressure to the one or more towed vehicles in response to an electric actuator control signal delivered to the associated brake control actuator via the brake control output,

wherein the control logic is executable by the processor to implement the enhanced braking mode of operation by controlling the electric actuator control signal to modify pulses of a modulated brake pressure applied by the towing vehicle to the one or more towed vehicles via the associated brake control actuator.

14. The braking control device according to claim 2, further comprising:

a brake control output operatively coupled with the processor and with an associated brake control actuator, the associated brake control actuator being configured to deliver brake pressure to the one or more towed vehicles in response to an actuator control signal delivered to the associated brake control actuator via the brake control output,

wherein the control logic is executable by the processor to implement the enhanced braking mode by controlling the actuator control signal to modify pulses of a modulated brake pressure applied by the towing vehicle to the one or more towed vehicles via the associated brake control actuator.

15. The braking control device according to claim 14, wherein:

the brake control output is configured to deliver the brake pressure to the one or more towed vehicles in response to a wireless actuator control signal delivered to the associated brake control actuator via the brake control output; and

the control logic is executable by the processor to implement the enhanced braking mode by controlling the wireless actuator control signal to modify pulses of a modulated brake pressure applied by the towing vehicle to the one or more towed vehicles via the associated brake control actuator.

16. The braking control device according to claim 2, further comprising:

a brake control output operatively coupled with the processor and with an associated brake control actuator, the associated brake control actuator being configured to deliver brake pressure to the one or more towed vehicles in response to a pneumatic actuator control signal delivered to the associated brake control actuator via the brake control output,

wherein the control logic is executable by the processor to implement the enhanced braking mode of operation by controlling the pneumatic actuator control signal to modify pulses of a modulated brake pressure applied by the towing vehicle to the one or more towed vehicles via the associated brake control actuator.

17. The braking control device according to claim 2, wherein the control logic stored in the non-transient memory device is executable by the processor to determine the braking mode of the one or more towed vehicles of the combination vehicle as the one of:

the non-enhanced braking mode in accordance with the automatic deceleration command value being less than the predetermined threshold deceleration rate value, or

the enhanced braking mode in accordance with the automatic deceleration command value being greater than the predetermined threshold deceleration rate value.

18. The braking control device according to claim 2, wherein:

the control logic stored in the non-transient memory device is executable by the processor to determine one or more platooning operational parameters of the combination vehicle in accordance with the determined braking mode of the one or more towed vehicles of the combination vehicle;

the control logic determines a platooning following distance to be maintained by the towing vehicle relative to an associated vehicle forward of the towing vehicle as a one or more of the platooning operational parameters in accordance with the determined braking mode by increasing the platooning following distance responsive to the non-enhanced braking mode being determined and by decreasing the platooning following distance responsive to the enhanced braking mode being determined;

the control logic determines a platooning travel speed limit to be maintained by the towing vehicle as a one or more of the platooning operational parameters in accordance with the determined braking mode by decreasing the platooning travel speed responsive to the non-enhanced braking mode being determined and by increasing the platooning travel speed responsive to the enhanced braking mode being determined; and

the control logic determines a platooning participation gate of the towing vehicle as a one or more of the platooning operational parameters in accordance with the determined braking mode by not permitting the platooning participation responsive to the non-enhanced braking mode being determined and by permitting the platooning participation responsive to the enhanced braking mode being determined.

19. A braking control device for use in an associated towing vehicle towing one or more associated towed vehicles as an associated combination vehicle for providing brake control enhancement to the one or more towed vehicles relative to a level of braking applied to the towing vehicle, the braking control device comprising:

a processor;

a non-transient memory device operatively coupled with the processor;

a forward relative distance input operatively coupled with the processor, the forward relative distance input selectively receiving a forward relative distance signal comprising forward relative distance data representative of a forward relative distance between the towing vehicle of the combination vehicle and an associated vehicle traveling forward of the combination vehicle; and

control logic stored in the non-transient memory device, the control logic being executable by the processor to;

determine, based on the forward relative distance, a forward relative speed between the towing vehicle of the combination vehicle and the associated vehicle traveling forward of the combination vehicle;

determine, in accordance with the forward relative distance and the forward relative speed, an automatic deceleration command value required to mitigate a chance of a collision between the towing vehicle of the combination vehicle and the associated vehicle traveling forward of the towing vehicle;

perform a comparison between the forward relative distance and an automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle; and

determine a braking mode of the one or more towed vehicles of the combination vehicle as a one of;

a non-enhanced braking mode applying a first level of braking to the one or more towed vehicles in a predetermined reduced proportion relative to the level of braking being applied to the towing vehicle in accordance with a first result of the comparison between the forward relative distance and the automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle, or

an enhanced braking mode applying a second level of braking to the one or more towed vehicles greater than the first level of braking in accordance with a second result of the comparison between the forward relative distance and the automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle, the second result of the comparison being different than the first result of the comparison.

20. The braking control device according to claim 19, wherein the control logic is executable by the processor to, responsive to receiving the deceleration command signal:

selectively generate, based on the first result of the comparison between the forward relative distance and the automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle, a first brake control transmission signal to effect the automatic deceleration command value in accordance with the non-enhanced braking mode; and

selectively generate, based on the second result of the comparison between the forward relative distance and the automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle, a second brake control transmission signal to effect the automatic deceleration command value in accordance with the enhanced braking mode.

21. The braking control device according to claim 20, further comprising:

a brake signal output operatively coupled with the processor, the brake signal output selectively transmitting a one of the first or second brake control transmission signals from the braking control device;

brake pedal timeout data stored in the non-transient memory device, the brake pedal timeout data being representative of a predetermined response time for a physical actuation of a brake pedal by an associated operator of the towing vehicle; and

a brake pedal actuation input operatively coupled with the processor, the brake pedal actuation input selectively receiving from an associated brake pedal sensor a brake pedal actuation signal comprising brake pedal actuation data representative of the physical actuation of the brake pedal by the associated operator of the towing vehicle,

wherein the control logic is executable by the processor to, responsive to determining the enhanced braking mode;

generate a brake warning signal comprising brake warning data representative of an imminent need for the combination vehicle to perform a deceleration maneuver in excess of the deceleration rate of the combination vehicle when operating the combination vehicle in the non-enhanced braking mode;

reset a pedal wait count time value stored in the non-transient memory device to a reset time value;

initiate a pedal timer incrementing the pedal wait count time value from the reset time value;

selectively transmit the first brake control transmission signal via the brake signal output responsive to the pedal wait count time value being less than the predetermined response time without receiving the brake pedal actuation signal; and

selectively transmit the second brake control transmission signal in lieu of the first brake control transmission signal via the brake signal output responsive to the pedal wait count time value being greater than the predetermined response time.

22. The braking control device according to claim 21, further comprising:

a transmitter device operatively coupled with the processor, the transmitter device being configured to receive message data and to transmit the message data as a message signal comprising the message data,

wherein the transmitter device selectively receives the brake warning data and transmits the brake warning data as a brake warning signal comprising the brake warning data to an associated receiver of an associated vehicle other than the towing and one or more towed vehicles.

23. The braking control device according to claim 20, further comprising:

a brake signal output operatively coupled with the processor, the brake signal output selectively transmitting a one of the first or second brake control transmission signals from the braking control device; and

an anti-lock braking system (ABS) capability input operatively coupled with the processor, the ABS capability input selectively receiving an ABS functionality signal from the one or more towed vehicles of the combination vehicle, the ABS functionality signal comprising ABS functionality data representative of a functional ABS capability of the one or more towed vehicles of the combination vehicle,

wherein the control logic is executable by the processor to, responsive to receiving the ABS functionality signal and to determining the enhanced braking mode;

selectively transmit the second brake control transmission signal via the brake signal output.

24. The braking control device according to claim 20, further comprising:

a brake signal output operatively coupled with the processor, the brake signal output selectively transmitting a one of the first or second brake control transmission signals from the braking control device;

combination vehicle stability data stored in the non-transient memory device, the combination vehicle stability data being representative of a predetermined combination vehicle stability value reflecting a stable driving condition of the combination vehicle; and

a set of one or more vehicle characteristic inputs operatively coupled with the processor, the set of one or more vehicle characteristic inputs selectively receiving a corresponding set of vehicle characteristic signals, each of the set of vehicle characteristic signals comprising vehicle characteristic data representative of a physical characteristic of the combination vehicle,

wherein the control logic is executable by the processor to determine a dynamic stability value of the combination vehicle in accordance with the set of vehicle characteristic data,

wherein the control logic is executable by the processor to;

selectively determine the non-enhanced braking mode in accordance with a first result of a comparison between the predetermined combination vehicle stability value and the dynamic stability value, or

selectively determine the enhanced braking mode in accordance with a second result of the comparison between the predetermined combination vehicle stability value and the dynamic stability value.

25. The braking control device according to claim 24, wherein:

the set of one or more vehicle characteristic inputs comprises;

a wheel slip input for receiving from one or more associated wheel slip sensors a wheel slip signal comprising wheel slip data representative of wheel slippage of one or more wheels of the towing and/or the one or more towed vehicles; and

the control logic is executable by the processor to determine the dynamic stability value of the combination vehicle in accordance with the wheel slip data.

26. The braking control device according to claim 24, wherein:

the set of one or more vehicle characteristic inputs comprises;

a combination vehicle yaw rate input for receiving from one or more associated yaw sensors a yaw rate signal comprising yaw rate data representative of a yaw rate of one or more of the towed and/or towing vehicles;

a steering angle input for receiving from an associated steering angle sensor a steering angle signal comprising steering angle data representative of a steering angle of a steerable wheel of the towing vehicle;

a lateral acceleration input for receiving from one or more acceleration sensors a lateral acceleration signal comprising lateral acceleration data representative of a lateral acceleration of the towed and/or towing vehicles; and

/or

a wheel speed input for receiving from one or more wheel speed sensors a wheel speed signal comprising wheel speed data representative of wheel speed of one or more wheels of the towing and/or the one or more towed vehicles; and

the control logic is executable by the processor to;

determine a curvilinear travel path value representative of a curvilinear path travelled by the combination vehicle in accordance with one or more of the yaw rate data, the steering angle data, the lateral acceleration data, and/or the wheel speed data; and

determine the dynamic stability value of the combination vehicle in accordance with the curvilinear travel path value.

27. The braking control device according to claim 24, wherein:

the non-transient memory device stores a set of desired dynamic stability values as a dynamic stability map representative of a mapping of the set of one or more vehicle characteristic inputs onto a plurality of instantaneous stability values representative of a corresponding plurality of instantaneous stability determinations of the combination vehicle relative to a range of operating conditions of the combination vehicle;

the set of one or more vehicle characteristic inputs comprises;

a load input for receiving from one or more load sensors a weight signal comprising weight data representative of a weight of a selected portion of the combination vehicle;

a towed and/or towing vehicle combination yaw rate input for receiving from one or more yaw sensors a yaw rate signal comprising yaw rate data representative of a yaw rate of one or more of the towed and/or towing vehicles;

a steering angle input for receiving from a steering angle sensor a steering angle signal comprising steering angle data representative of a steering angle of a steerable wheel of the towing vehicle;

a lateral acceleration input for receiving from one or more acceleration sensors a lateral acceleration signal comprising lateral acceleration data representative of a lateral acceleration of the towed and/or towing vehicles; and

/or

a wheel speed input for receiving from one or more wheel speed sensors a wheel speed signal comprising wheel speed data representative of wheel speed of one or more wheels of the towing and/or the one or more towed vehicles; and

the control logic is executable by the processor to determine the dynamic stability value of the combination vehicle by;

applying the set of one or more vehicle characteristic inputs to the dynamic stability map; and

assigning an output of the mapping to the dynamic stability value.

28. The braking control device according to claim 27, wherein:

the load input of the set of one or more vehicle characteristic inputs comprises;

a combination vehicle load input for receiving from one or more load sensors an overall combined weight signal comprising overall combined weight data representative of an overall combined weight of the combination vehicle.

29. The braking control device according to claim 27, wherein:

the load input of the set of one or more vehicle characteristic inputs comprises;

an allocated vehicle load input for receiving an allocated weight signal comprising weight data representative of a weight allocated to a selected portion of the combination vehicle.

30. The braking control device according to claim 20, further comprising:

a brake control output operatively coupled with the processor and with an associated brake control actuator, the associated brake control actuator being configured to deliver brake pressure to the one or more towed vehicles in response to an actuator control signal delivered to the associated brake control actuator via the brake control output; and

wherein the control logic is executable by the processor to implement the enhanced braking mode by controlling the actuator control signal to one or more of;

increase a high pulse time of a modulated brake pressure applied by the towing vehicle to the one or more towed vehicles via the associated brake control actuator;

decrease a low pulse time of the modulated brake pressure applied by the towing vehicle to the one or more towed vehicles via the associated brake control actuator; and

/or

increase values of one or more pulses of the modulated brake pressure applied by the towing vehicle to the one or more towed vehicles via the associated brake control actuator.

31. The braking control device according to claim 20, further comprising:

a brake control output operatively coupled with the processor and with an associated brake control actuator, the associated brake control actuator being configured to deliver brake pressure to the one or more towed vehicles in response to an electric actuator control signal delivered to the associated brake control actuator via the brake control output,

wherein the control logic is executable by the processor to implement the enhanced braking mode of operation by controlling the electric actuator control signal to modify pulses of a modulated brake pressure applied by the towing vehicle to the one or more towed vehicles via the associated brake control actuator.

32. The braking control device according to claim 20, further comprising:

a brake control output operatively coupled with the processor and with an associated brake control actuator, the associated brake control actuator being configured to deliver brake pressure to the one or more towed vehicles in response to an actuator control signal delivered to the associated brake control actuator via the brake control output,

wherein the control logic is executable by the processor to implement the enhanced braking mode by controlling the actuator control signal to modify pulses of a modulated brake pressure applied by the towing vehicle to the one or more towed vehicles via the associated brake control actuator.

33. The braking control device according to claim 32, wherein:

the brake control output is configured to deliver the brake pressure to the one or more towed vehicles in response to a wireless actuator control signal delivered to the associated brake control actuator via the brake control output; and

the control logic is executable by the processor to implement the enhanced braking mode by controlling the wireless actuator control signal to modify pulses of a modulated brake pressure applied by the towing vehicle to the one or more towed vehicles via the associated brake control actuator.

34. The braking control device according to claim 20, further comprising:

a brake control output operatively coupled with the processor and with an associated brake control actuator, the associated brake control actuator being configured to deliver brake pressure to the one or more towed vehicles in response to a pneumatic actuator control signal delivered to the associated brake control actuator via the brake control output,

wherein the control logic is executable by the processor to implement the enhanced braking mode of operation by controlling the pneumatic actuator control signal to modify pulses of a modulated brake pressure applied by the towing vehicle to the one or more towed vehicles via the associated brake control actuator.

35. The braking control device according to claim 20, wherein the control logic stored in the non-transient memory device is executable by the processor to determine the braking mode of the one or more towed vehicles of the combination vehicle as the one of:

the non-enhanced braking mode in accordance with the automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle being less than the forward relative distance, or

the enhanced braking mode in accordance with the automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle being greater than the forward relative distance.

36. The braking control device according to claim 20, wherein:

the control logic stored in the non-transient memory device is executable by the processor to determine one or more platooning operational parameters of the combination vehicle in accordance with the determined braking mode of the one or more towed vehicles of the combination vehicle;

the control logic determines a platooning following distance to be maintained by the towing vehicle relative to an associated vehicle forward of the towing vehicle as a one or more of the platooning operational parameters in accordance with the determined braking mode by increasing the platooning following distance responsive to the non-enhanced braking mode being determined and by decreasing the platooning following distance responsive to the enhanced braking mode being determined;

the control logic determines a platooning travel speed limit to be maintained by the towing vehicle as a one or more of the platooning operational parameters in accordance with the determined braking mode by decreasing the platooning travel speed responsive to the non-enhanced braking mode being determined and by increasing the platooning travel speed responsive to the enhanced braking mode being determined; and

the control logic determines a platooning participation gate of the towing vehicle as a one or more of the platooning operational parameters in accordance with the determined braking mode by not permitting the platooning participation responsive to the non-enhanced braking mode being determined and by permitting the platooning participation responsive to the enhanced braking mode being determined.

37. A braking control device for use in an associated towing vehicle towing one or more associated towed vehicles as an associated combination vehicle for providing brake control enhancement to the one or more towed vehicles relative to a level of braking applied to the towing vehicle, the braking control device comprising:

processor means;

forward relative distance input means operatively coupled with the processor means, the forward relative distance input means selectively receiving a forward relative distance signal comprising forward relative distance data representative of a forward relative distance between the towing vehicle of the combination vehicle and an associated vehicle traveling forward of the combination vehicle;

memory means operatively coupled with the processor means, the memory means storing braking deceleration threshold data representative of a predetermined threshold deceleration rate value related to a predetermined threshold deceleration rate of the combination vehicle when operating the combination vehicle in a non-enhanced braking mode applying a first level of braking to the one or more towed vehicles in a predetermined reduced proportion relative to the level of braking being applied to the towing vehicle; and

control logic means stored in the memory means, the control logic means being executable by the processor means to;

determine a forward relative speed between the towing vehicle of the combination vehicle and the associated vehicle traveling forward of the combination vehicle;

determine, in accordance with the forward relative distance and the forward relative speed, an automatic deceleration command value required to mitigate a chance of a collision between the towing vehicle of the combination vehicle and the associated vehicle traveling forward of the towing vehicle;

perform a comparison between the predetermined threshold deceleration rate value and the automatic deceleration command value;

determine a braking mode of the one or more towed vehicles of the combination vehicle as a one of;

the non-enhanced braking mode applying the first level of braking to the one or more towed vehicles in accordance with a first result of the comparison between the predetermined threshold deceleration rate value and the automatic deceleration command value, or

an enhanced braking mode applying a second level of braking to the one or more towed vehicles greater than the first level of braking in accordance with a second result of the comparison between the predetermined threshold deceleration rate value and the automatic deceleration command value, the second result of the comparison being different than the first result of the comparison;

selectively generate, based on the first result of the comparison between the predetermined threshold deceleration rate value and the automatic deceleration command value, a first brake control transmission signal to effect the automatic deceleration command value in accordance with the non-enhanced braking mode; and

selectively generate, based on the second result of the comparison between the predetermined threshold deceleration rate value and the automatic deceleration command value, a second brake control transmission signal to effect the automatic deceleration command value in accordance with the enhanced braking mode.

38. The braking control device according to claim 37, further comprising:

brake signal output means operatively coupled with the processor means, the brake signal output means selectively transmitting a one of the first or second brake control transmission signals;

combination vehicle stability data stored in the memory means, the combination vehicle stability data being representative of a predetermined combination vehicle stability value reflecting a stable driving condition of the combination vehicle; and

a set of one or more vehicle characteristic input means operatively coupled with the processor means, the set of one or more vehicle characteristic input means selectively receiving a corresponding set of vehicle characteristic signals, each of the set of vehicle characteristic signals comprising vehicle characteristic data representative of a physical characteristic of the combination vehicle,

wherein the control logic means is operable to determine a dynamic stability value of the combination vehicle in accordance with the set of vehicle characteristic data,

wherein the control logic means is operable to;

selectively determine the non-enhanced braking mode in accordance with a first result of a comparison between the predetermined combination vehicle stability value and the dynamic stability value, or

selectively determine the enhanced braking mode in accordance with a second result of the comparison between the predetermined combination vehicle stability value and the dynamic stability value.

39. The braking control device according to claim 37, wherein the control logic means stored in the memory means is executable by the processor means to determine the braking mode of the one or more towed vehicles of the combination vehicle as the one of:

the non-enhanced braking mode in accordance with the automatic deceleration command value being less than the predetermined threshold deceleration rate value, or

the enhanced braking mode in accordance with the automatic deceleration command value being greater than the predetermined threshold deceleration rate value.

40. A braking control method for use in an associated towing vehicle towing one or more associated towed vehicles as an associated combination vehicle for providing brake control enhancement to the one or more towed vehicles relative to a level of braking applied to the towing vehicle, the braking control method comprising:

receiving at a forward relative distance input operatively coupled with a processor a forward relative distance signal comprising forward relative distance data representative of a forward relative distance between the towing vehicle of the combination vehicle and an associated vehicle traveling forward of the combination vehicle,

storing in a non-transient memory device operatively coupled with the processor braking deceleration threshold data representative of a predetermined threshold deceleration rate value related to a predetermined threshold deceleration rate of the combination vehicle when operating the combination vehicle in a non-enhanced braking mode applying a first level of braking to the one or more towed vehicles in a predetermined reduced proportion relative to the level of braking being applied to the towing vehicle;

executing control logic stored in the non-transient memory device to;

determine a forward relative speed between the towing vehicle of the combination vehicle and the associated vehicle traveling forward of the combination vehicle;

determine, in accordance with the forward relative distance and the forward relative speed, an automatic deceleration command value required to mitigate a chance of a collision between the towing vehicle of the combination vehicle and the associated vehicle traveling forward of the towing vehicle;

perform a comparison between the predetermined threshold deceleration rate value and the automatic deceleration command value;

determine a braking mode of the one or more towed vehicles of the combination vehicle as a one of;

the non-enhanced braking mode applying the first level of braking to the one or more towed vehicles in accordance with a first result of the comparison between the predetermined threshold deceleration rate value and the automatic deceleration command value, or

an enhanced braking mode applying a second level of braking to the one or more towed vehicles greater than the first level of braking in accordance with a second result of the comparison between the predetermined threshold deceleration rate value and the automatic deceleration command value, the second result of the comparison being different than the first result of the comparison; and

responsive to receiving a deceleration command signal;

selectively generate, based on the first result of the comparison between the predetermined threshold deceleration rate value and the automatic deceleration command value, a first brake control transmission signal to effect the automatic deceleration command value in accordance with the non-enhanced braking mode; and

selectively generate, based on the second result of the comparison between the predetermined threshold deceleration rate value and the automatic deceleration command value, a second brake control transmission signal to effect the automatic deceleration command value in accordance with the enhanced braking mode.

41. The braking control method according to claim 40, further comprising:

selectively transmitting by a brake signal output operatively coupled with the processor a one of the first or second brake control transmission signals;

storing combination vehicle stability data in the non-transient memory device, the combination vehicle stability data being representative of a predetermined combination vehicle stability value reflecting a stable driving condition of the combination vehicle;

selectively receiving by a set of one or more vehicle characteristic inputs operatively coupled with the processor a corresponding set of vehicle characteristic signals, each of the set of vehicle characteristic signals comprising vehicle characteristic data representative of a physical characteristic of the combination vehicle;

determining by the control logic a dynamic stability value of the combination vehicle in accordance with the set of vehicle characteristic data;

selectively determining by the control logic the non-enhanced braking mode applying the first level of braking to the one or more towed vehicles in accordance with a first result of a comparison between the predetermined combination vehicle stability value and the dynamic stability value; and

selectively determining by the control logic the enhanced braking mode applying the second level of braking to the one or more towed vehicles in accordance with a second result of the comparison between the predetermined combination vehicle stability value and the dynamic stability value.

42. The braking control method according to claim 40, further comprising:

executing the control logic stored in the non-transient memory device by the processor to determine the braking mode of the one or more towed vehicles of the combination vehicle as the one of;

the non-enhanced braking mode in accordance with the automatic deceleration command value being less than the predetermined threshold deceleration rate value, or

the enhanced braking mode in accordance with the automatic deceleration command value being greater than the predetermined threshold deceleration rate value.

43. A braking control device for use in an associated towing vehicle towing one or more associated towed vehicles as an associated combination vehicle for providing brake control enhancement to the one or more towed vehicles relative to a level of braking applied to the towing vehicle, the braking control device comprising:

processor means;

memory means operatively coupled with the processor means;

forward relative distance input means operatively coupled with the processor means, the forward relative distance input means selectively receiving a forward relative distance signal comprising forward relative distance data representative of a forward relative distance between the towing vehicle of the combination vehicle and an associated vehicle traveling forward of the combination vehicle;

control logic means stored in the memory means, the control logic means being executable by the processor means to;

determine, based on the forward relative distance, a forward relative speed between the towing vehicle of the combination vehicle and the associated vehicle traveling forward of the combination vehicle,

determine, in accordance with the forward relative distance and the forward relative speed, an automatic deceleration command value required to mitigate a chance of a collision between the towing vehicle of the combination vehicle and the associated vehicle traveling forward of the towing vehicle,

perform a comparison between the forward relative distance and an automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle;

determine a braking mode of the one or more towed vehicles of the combination vehicle as a one of;

a non-enhanced braking mode applying a first level of braking to the one or more towed vehicles in a predetermined reduced proportion relative to the level of braking being applied to the towing vehicle in accordance with a first result of the comparison between the forward relative distance and the automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle, or

an enhanced braking mode applying a second level of braking to the one or more towed vehicles greater than the first level of braking in accordance with a second result of the comparison between the forward relative distance and the automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle, the second result of the comparison being different than the first result of the comparison; and

responsive to receiving the deceleration command signal;

selectively generate, based on the first result of the comparison between the forward relative distance and the automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle, a first brake control transmission signal to effect the automatic deceleration command value in accordance with the non-enhanced braking mode; and

selectively generate, based on the second result of the comparison between the forward relative distance and the automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle, a second brake control transmission signal to effect the automatic deceleration command value in accordance with the enhanced braking mode.

44. The braking control device according to claim 43, further comprising:

brake signal output means operatively coupled with the processor means, the brake signal output means selectively transmitting a one of the first or second brake control transmission signals;

combination vehicle stability data stored in the memory means, the combination vehicle stability data being representative of a predetermined combination vehicle stability value reflecting a stable driving condition of the combination vehicle; and

a set of one or more vehicle characteristic input means operatively coupled with the processor means, the set of one or more vehicle characteristic input means selectively receiving a corresponding set of vehicle characteristic signals, each of the set of vehicle characteristic signals comprising vehicle characteristic data representative of a physical characteristic of the combination vehicle,

wherein the control logic means is operable to determine a dynamic stability value of the combination vehicle in accordance with the set of vehicle characteristic data,

wherein the control logic means is operable to;

selectively determine the non-enhanced braking mode in accordance with a first result of a comparison between the predetermined combination vehicle stability value and the dynamic stability value; and

selectively determine the enhanced braking mode in accordance with a second result of the comparison between the predetermined combination vehicle stability value and the dynamic stability value.

45. The braking control device according to claim 43, wherein the control logic means stored in the memory means is executable by the processor means to determine the braking mode of the one or more towed vehicles of the combination vehicle as the one of:

the non-enhanced braking mode in accordance with the automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle being less than the forward relative distance, or

the enhanced braking mode in accordance with the automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle being greater than the forward relative distance.

46. A braking control method for use in an associated towing vehicle towing one or more associated towed vehicles as an associated combination vehicle for providing brake control enhancement to the one or more towed vehicles relative to a level of braking applied to the towing vehicle, the braking control method comprising:

receiving by a forward relative distance input operatively coupled with a processor a forward relative distance signal comprising forward relative distance data representative of a forward relative distance between the towing vehicle of the combination vehicle and an associated vehicle traveling forward of the combination vehicle;

determining based on the forward relative distance by control logic stored in a non-transient memory device and executable by a processor a forward relative speed between the towing vehicle of the combination vehicle and the associated vehicle traveling forward of the combination vehicle;

determining by the control logic in accordance with the forward relative distance and the forward relative speed, an automatic deceleration command value required to mitigate a chance of a collision between the towing vehicle of the combination vehicle and the associated vehicle traveling forward of the towing vehicle;

performing by the control logic a comparison between the forward relative distance and an automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle;

determining by the control logic a braking mode of the one or more towed vehicles of the combination vehicle as a one of;

a non-enhanced braking mode applying a first level of braking to the one or more towed vehicles in a predetermined reduced proportion relative to the level of braking being applied to the towing vehicle in accordance with a first result of the comparison between the forward relative distance and the automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle, or

an enhanced braking mode applying a second level of braking to the one or more towed vehicles greater than the first level of braking in accordance with a second result of the comparison between the forward relative distance and the automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle, the second result of the comparison being different than the first result of the comparison;

selectively generating, based on the first result of the comparison between the forward relative distance and the automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle, a first brake control transmission signal to effect the automatic deceleration command value in accordance with the non-enhanced braking mode; and

selectively generating, based on the second result of the comparison between the forward relative distance and the automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle, a second brake control transmission signal to effect the automatic deceleration command value in accordance with the enhanced braking mode.

47. The braking control method according to claim 46, further comprising:

selectively transmitting by a brake signal output operatively coupled with the processor a one of the first or second brake control transmission signals;

storing combination vehicle stability data in the non-transient memory device, the combination vehicle stability data being representative of a predetermined combination vehicle stability value reflecting a stable driving condition of the combination vehicle;

selectively receiving, by a set of one or more vehicle characteristic inputs operatively coupled with the processor, a corresponding set of vehicle characteristic signals, each of the set of vehicle characteristic signals comprising vehicle characteristic data representative of a physical characteristic of the combination vehicle;

determining by the control logic a dynamic stability value of the combination vehicle in accordance with the set of vehicle characteristic data;

selectively determining by the control logic the non-enhanced braking mode in accordance with a first result of a comparison between the predetermined combination vehicle stability value and the dynamic stability value; and

selectively determining by the control logic the enhanced braking mode in accordance with a second result of the comparison between the predetermined combination vehicle stability value and the dynamic stability value.

48. The braking control method according to claim 46, further comprising:

executing the control logic stored in the non-transient memory device by the processor to determine the braking mode of the one or more towed vehicles of the combination vehicle as the one of;

the non-enhanced braking mode in accordance with the automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle being less than the forward relative distance, or

the enhanced braking mode in accordance with the automated deceleration distance resulting from executing the automatic deceleration command value by the combination vehicle being greater than the forward relative distance.