| 摘要 |
The invention relates to an arrangement for a vehicle which incorporates powered wheels (1a-b) arranged on a first axle, unpowered wheels (1c-d) arranged on at least one second axle, an engine unit for the vehicle's propulsion and a brake configuration which includes brake devices which are wheels. The arrangement is designed to estimate the level of friction between the vehicle's wheels and running surfaces. The arrangement incorporates a control unit (11) designed to communicate with at least one of said brake devices in such a way that a first brake pressure is delivered to the brake device concerned for a period of time during the vehicle's propulsion, first means (12) designed to measure the speed of the wheel which the brake device to which said first brake pressure is delivered acts upon during said period of time, and second means (13) designed to measure the speed of a free-running one of said wheels during said period of time, and the level of friction is estimated on the basis of the speed of said braked wheel and the speed of said-free running wheel. This makes it possible for the so-called slip of a braked wheel to be estimated. If the braked wheel runs at a significantly lower speed than the free-running wheel, knowledge of the load prevailing on the braked wheel may be used to describe a function concerning the force configuration of the braked wheel, i.e. resultant forces acting upon the braked wheel, after which the prevailing friction may be calculated.
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