Volvo Cars Patente

The disclosure relates to a vehicle body (1) comprising a rear part structure (10), a battery frame structure (100), and a door frame structure (60), wherein the rear part structure (10) comprises at least one side member (40), the at least one side member (40) comprising a first side member portion (41) attached to the battery frame structure (100) and a second side member portion (42) attached to the door frame structure (60), wherein the second side member portion (42) is configured as a panel with an outer contact surface (43) forming a contact interface with an inner contact surface (72, 82) of the door frame structure (60).

The disclosure relates to a rear part structure (10) for a vehicle, wherein the rear part structure (10) comprises two side member portions (20) located opposite of one another, wherein each side member portion (20) comprises a first segment (21), wherein at least one of the first segments (21) comprises first ribs (22) extending with varying height (H) along a width (W) of its side member portion (20), the ends (22c) of the first ribs (22) forming a spring seat plane (23) for a coil spring unit (50), the spring seat plane (23) being angled in relation to the extension in height (H) of the first ribs (22).

The disclosure relates to a backdoor assembly (12, 30, 80) for opening or closing a back opening (11) of a vehicle (10). The backdoor assembly (12, 30, 80) comprises a first metal panel (21, 61) comprising a window opening (14, 22b, 62c). The backdoor assembly (12, 30, 80) further comprises a second metal panel (26, 68). Further, the backdoor assembly (12, 30, 80) comprises an at least partially transparent window panel (25, 81). The window panel (25, 81) is fastened directly to a first portion (21a, 61a) of a surface of the first metal panel (21, 61) and covers the window opening (14, 22b, 62c). The second metal panel (26, 68) is arranged on a second portion (21b, 68b), different from the first portion (21a, 61a), of the surface of the first metal panel (21, 61). Further, the surface of the first metal panel (21, 61) is orientable towards an exterior of the vehicle (10). The disclosure further relates to a method.

A thermal management system (100) for a vehicle, comprising:a refrigerant loop (110) comprising a liquid cooled condenser (110a/114) and a coolant chiller (110b/118);a coolant loop (112) comprising a hot circuit (112a) and a cold circuit (112b);a first multi-way valve assembly (V1) coupling a heating, ventilation, and air conditioning (HVAC) system (102) comprising a first heat exchanger/heater (120) and a second heat exchanger/cooler (122) to the hot circuit and the cold circuit of the coolant loop;a second multi-way valve assembly (V2) coupling a battery system (104), an electric drive (ED) system, and an ambient heat exchanger (108) to the hot circuit and the cold circuit of the coolant loop; anda third multi-way valve assembly (V3) coupling the battery system, the electric drive system, and the ambient heat exchanger to one another.

The disclosure relates to a method for adjusting at least one adjustable feature (110) of a motor vehicle (100). The method comprises obtaining first data indicative of states of the chassis of the motor vehicle (100) before and after at least one occupant (210) boards onto or alights from the motor vehicle (100). Moreover, the method comprises obtaining second data indicative of a weight of the at least one occupant (210). The second data is obtained based on the obtained first data. Furthermore, the method comprises causing adjustment of the at least one adjustable feature (110) of the motor vehicle (100) based on the second data. The disclosure further relates to a data processing apparatus (120), a computer program (150), a computer-readable storage medium (140), and a motor vehicle (100).

The disclosure relates to a feeding assembly (16) for a material-embedded antenna assembly (14) for a vehicle. The feeding assembly (16) comprises a first capacitive coupling interface (34) for capacitively coupling to at least one antenna (22) of the antenna assembly (14) and a second capacitive coupling interface (36) for capacitively coupling to at least one antenna (22) of the antenna assembly (14). Moreover, the feeding assembly (16) comprises a first conductive path (42) extending from the first capacitive coupling interface (34), a second conductive path (48) extending from the second capacitive coupling interface (36), and a coplanar waveguide (54) comprising an electrical signal line (56) and two conductors (58, 60) forming an electric ground. The first conductive path (42) and the second conductive path (48) are electrically connected to the coplanar waveguide (54). Moreover, an antenna system (67) comprising an antenna assembly (14) and a feeding assembly (16) is explained. Furthermore, a panel for a vehicle is presented. The panel comprises a first material layer and a second material layer, and such an antenna system (67). Additionally, a vehicle is shown.

The disclosure relates to a valve assembly (24) for controlling a flow of a first liquid (36) and a flow of a second liquid (40) in a vehicle. The valve assembly (24) comprises a valve body (28) having a first supply path (34) for the first liquid (36), a first return path (50) for the first liquid (36), a second supply path (38) for the second liquid (40), a second return path (52) for the second liquid (40), a first outlet (42) for supplying liquid (36, 40) to a first component, a first inlet (54) for receiving liquid (36, 40) from the first component, a second outlet (46) for supplying liquid (36, 40) to a second component, and a second inlet (56) for receiving liquid (36, 40) from the second component. The valve assembly (24) further comprises a singular valve element (64) movably supported on or in the valve body (28). Moreover, the disclosure is directed to a valve system comprising at least two valve assemblies (24) and to a method for controlling a flow of a first liquid (36) and a flow of a second liquid (40) in a vehicle using a valve assembly (24).

The disclosure relates to a method for adjusting at least one occupant safety module (140) of a motor vehicle (10). The method comprises obtaining first data (D1) indicative of a seat position of a driver's seat (20) of the motor vehicle. The method also comprises obtaining, based on the obtained first data (D1), second data indicative of a size of an occupant (30) sitting on the driver's seat (20). The method further comprises obtaining, based on the obtained second data, third data indicative of at least one adjustable parameter of the at least one occupant safety module (140). Further, the method comprises causing, based on the obtained third data, adjustment of the at least one occupant safety module (140) of the motor vehicle (10). The disclosure further relates to a data processing apparatus (90), a computer program (93), a computer-readable storage medium (92), and a motor vehicle (10).

The disclosure relates to a method for manufacturing a rear part structure (10) for a vehicle body, the method comprising: - providing a die (1) for a base part (20) of the rear part structure (10), wherein the base part (20) comprises a sleeve portion (21) comprising a first wall (22) and a second wall (23), and wherein the first and second walls (22, 23) are arranged opposite of one another; - die casting the base part (20) from metal using the die (1), wherein a slide (4) of the die (1) is tilted in relation to the second wall (23) to produce no draft angle or a first draft angle (β) of the first wall (22), wherein the first draft angle (β) is smaller than a second draft angle (β) of the second wall (23); - inserting a first end portion (31) of an extruded part (30) of the rear part structure (10) in between the first and second walls (22, 23); and - attaching the extruded part (30) to the base part (20), wherein the extruded part (30) comprises a second end portion (32) opposite of the first end portion (31) for attachment to a bumper (40) of the vehicle body.

The disclosure relates to a sealant applicator tool (1) for use in a gap (130) between body parts (110, 120) of a vehicle body (100) of a vehicle, in particular between a fender (110) and a door (120) comprising an inward step (123) configured to push the fender (110) outward during a frontal collision of the vehicle, wherein the sealant applicator tool (1) comprises:an inlet portion (10) comprising an inlet (12), the inlet portion (10) being configured to receive a sealant from a sealant supply source;a nozzle portion (30) comprising an outlet (31) for applying the sealant onto one of the body parts (110, 120);an intermediate portion (20) connecting the inlet portion (10) with the nozzle portion (30), wherein the intermediate portion (20) comprises an internal channel (26) fluidically connecting the inlet (12) to the outlet (31), the intermediate portion (20) is arranged at an angle (α₃₀) relative to the nozzle portion (30), and the intermediate portion (20) comprises a non-linear profile along its extension between the inlet portion (10) and the nozzle portion (30).

The disclosure relates to a rear part structure (10) for a vehicle body, wherein the rear part structure (10) comprises a base part (20) and a plate part (30) attached to the base part (20), wherein the base part (20) is made from a metal casting, and wherein the plate part (30) is attached to a base part portion (21) of the base part (20), thereby forming a beam segment (40) in the rear part structure (10), wherein the plate part (30) is attached by one or more fasteners (1) to one or more base part members (22) of the base part portion (21).

The disclosure relates to a steering column (1) for a vehicle, the steering column (1) comprising: a first column segment (10) for attachment to the vehicle; a second column segment (20) for attaching a steering device (2) thereto, wherein the second column segment (20) is movable in relation to the first column segment (10) and collapsible towards the first column segment (10) in a crash event; a wire (30) attached to the second column segment (20); and a brake device (40), wherein the brake device (40) comprises a braking mechanism (41, 47), wherein the wire (30) is spooled inside the brake device (40) and coupled to the braking mechanism (41, 47), and wherein the braking mechanism (41, 47) is configured to brake when the wire (30) is unspooled by the collapsing of the second column segment (20) in the crash event, thereby restraining the wire (30) from unspooling and restraining the collapsing of the second column segment (20).

A thermal management system (102) for a vehicle (100), the thermal management system including: a first heat exchanger (204a) disposed in a HVAC system of the vehicle, where the first heat exchanger is an ambient heat exchanger with an air side in thermal communication with an external environment of the vehicle; and a second heat exchanger (204b) disposed in the HVAC system of the vehicle downstream of the first heat exchanger and adapted to receive an air flow through or around the first heat exchanger, where the second heat exchanger is adapted to function as either a heater or a cooler for a cabin of the vehicle responsive to an operating condition or environment of the vehicle. The thermal management system includes no additional heat exchangers disposed in the HVAC system or a coolant module of the vehicle aside from the first heat exchanger and the second heat exchanger.

The disclosure relates to a cell (10) for an energy storage device (20), the cell (10) comprising: a first conductive substrate (12), a second conductive substrate (14), and a separating substrate (16) arranged between the first conductive substrate (12) and the second conductive substrate (14), wherein the first conductive substrate (12), the second conductive substrate (14) and the separating substrate (16) are arranged as a plurality of overlapping layers in a cell form, wherein the first conductive substrate (12) comprises a plurality of first tabs (120), wherein the plurality of first tabs (120) comprises a first outer tab extending from an outer layer of the plurality of overlapping layers and a first inner tab extending from an inner layer from the plurality of overlapping layers, the inner layer being located closer to a center of the cell form than the outer layer, wherein a length of the first outer tab is longer than a length of the first inner tab, and wherein the plurality of first tabs (120) is folded towards the center of the cell form such that adjacent first tabs in the plurality of first tabs (120) are in contact with one another.

The disclosure relates to a clip (34) for removably attaching a first vehicle part (28) to a second vehicle part (30). The second part (30) comprises a stud (32) having a finned and/or a threaded lateral surface (36). The clip (34) comprises a base part (38) with an opening (40) for receiving the stud (32). The at least two hooks (42) are arranged on a circumference of the opening (40). Each of the at least two hooks (42) comprises a bendable leg portion (52) and an engagement portion (54) for engaging the lateral surface (36) of the stud (32). Each of the at least two hooks (42) comprises a release interface (58) for disengaging the hook (42) from the stud (32) using a release tool (78). Each of the release interfaces (58) comprises a thrust surface (60) having a surface normal with a component of extension along a middle axis (44) of the opening (40) and with a component of extension perpendicular to the middle axis (44) of the opening (40). Moreover, the disclosure is directed to a first part (28) comprising a clip (34), to an assembly (76) comprising a first part (28) and a second part (30) as well as to a method for disengaging an assembly (76) of a first part (28) and of a second part (30).

A method to control a projector lamp unit (100) to display a pattern inside of a vehicle, wherein the method comprises obtaining (1402) vehicle user preferences, and controlling (1404) the projector lamp unit (100) to display the pattern based on the vehicle user preferences, wherein the vehicle user preferences comprise information indicating at least one of an identifier of the pattern to be displayed, a displaying speed of the pattern to be displayed, a displaying time of the pattern to be displayed, and a displaying colour of the pattern to be displayed.

The present disclosure discloses a method, system, storage medium, program product for vehicle control, and a vehicle. The method comprises: receiving a continuous variation range of a lateral dynamics-related parameter of a vehicle; determining a rear wheel steering angle of the vehicle based on the continuous variation range of the lateral dynamics-related parameter and a current state of the vehicle; and controlling steering of rear wheels of the vehicle based on the determined rear wheel steering angle.

The disclosure relates to a connection arrangement (100, 200), comprising one or more power conductors (70) configured for transferring a charging current between a charger (1200) and an electric vehicle (1100); and a communication conductor (110, 210), wherein the communication conductor (110, 210) comprises a coaxial configuration with an inner conductor portion (111, 211) configured for transmitting a first communication signal between the charger (1200) and the electric vehicle (1100) and an outer conductor portion (113, 213) configured for transmitting a second communication signal between the charger (1200) and the electric vehicle (1100), wherein the first communication signal and the second communication signal are configured for managing the transfer of the charging current between the charger (1200) and the electric vehicle (1100).

The disclosure relates to an illumination assembly for an interior of a passenger cabin of a vehicle (900). The illumination assembly comprises a light source unit (111). The illumination assembly further comprises a first, plate-shaped light radiation element (112) having a front surface orientable towards the interior of the passenger cabin of the vehicle (900). Moreover, the illumination assembly comprises a second light radiation element 113 arranged adjacent to an edge of the first, plate-shaped radiation element. The arrangement is such that the second light radiation element (113) may radiate towards the front surface of the first, plate-shaped light radiation element. The first, plate-shaped light radiation element (112) is optically coupled to the light source unit (111). Further, the second light radiation element (113) is optically coupled to the light source unit (111). The disclosure further relates to a vehicle (900) comprising the illumination assembly, and a method for operating the illumination assembly.

The present disclosure relates to a method applied to vehicle control, including: determining a current driving state of a vehicle, the current driving state being associated with an acceleration operation or a deceleration operation of the vehicle; obtaining a plurality of sample values of a non-steer wheel cornering stiffness of the vehicle in the current driving state; and determining a reference value of the non-steer wheel cornering stiffness corresponding to the current driving state based on the plurality of sample values of the non-steer wheel cornering stiffness.

The disclosure relates to an electric machine (100) for vehicle propulsion. The electric machine (100) comprises a housing (150). The electric machine (100) comprises a rotor with a rotor shaft (120). The electric machine (100) further comprises at least one bearing (130). Further, the electric machine (100) comprises a first electrical insulation element (140) having an inner cavity. The rotor shaft (120) is supported on the housing (150) of the electric machine (100) by the at least one bearing (130). The at least one bearing (130) is arranged in the inner cavity of the first electrical insulation element (140). The first electrical insulation element (140) is rigid. The disclosure further relates to a first electrical insulation element (140) for the electric machine (100). Further, the disclosure relates to a method for manufacturing the electric machine (100).

The disclosure relates to a vehicle seat rear assembly (16) for a vehicle seat (12). The vehicle seat rear assembly (16) comprises a headrest frame (24) being integrally formed with a back support frame (22) of the vehicle seat (12). Moreover, the vehicle seat rear assembly (16) comprises a headrest cushion part (20). The headrest cushion part (20) is movably coupled to the headrest frame (24) when in a release state (RS). The headrest frame (24) and the headrest cushion part (20) each comprise a fixing interface (42, 44) for permanently fixing the headrest cushion part (20) to the headrest frame (24) when in an operational state. Furthermore, a method for installing a vehicle seat (12) inside a cabin of a vehicle is provided.

The disclosure relates to a solenoid valve (10), comprising: a valve body (20) having an inlet port (21), an outlet port (22) and a valve seat (23) between the inlet port (21) and the outlet port (22); a plunger (30); a spring element (40) biasing the plunger (30) towards or away from the valve seat (23) for adopting a first valve position (FVP); a solenoid element (50) at least partially surrounding the plunger (30), wherein the solenoid element (50) is configured to generate an electromagnetic field (51) for moving the plunger (30) against the bias of the spring element (40), the plunger (30) thereby adopting a second valve position (SVP) different from the first valve position (FVP); a linkage element (60) linking the plunger (30) to a linkage portion (70) of the solenoid valve (10); and a pathway (80) in the linkage portion (70) or the plunger (30), wherein an end portion (61, 62) of the linkage element (60) is moveable along the pathway (80) following the movement of the plunger (30), the pathway (80) is configured with a first end position (FEP) and a second end position (SEP) for the end portion (61, 62), and the linkage element (60) maintains the second valve position (SVP) in the second end position (SEP) when the solenoid element (50) does not generate the electromagnetic field (51).

The disclosure relates to a lateral push element (10) configured for generating a lateral force on a vehicle (1) by redirecting a force developed during a collision of the vehicle (1), wherein the lateral push element (10) is configured to be arranged at an end portion (111) of a beam component (11), the end portion (111) being at an end of the beam component (11) on its longitudinal axis (LB), the beam component (11) being configured to be arranged on a front side (F) of the vehicle (1) and being configured for absorbing and/or dissipating energy during the collision. The present disclosure relates further to a beam component (11), to a system (2), to a vehicle (1), to a method for manufacturing the beam component (11), and to a method for manufacturing the vehicle.

The disclosure relates to a method for training a data model (56) for detecting an anomaly in a traction battery pack (14) of a vehicle (12). The method comprises obtaining first data (D1) indicative of at least one state parameter of the traction battery pack (14) and second data (D2) indicative of a usage history statistic of the traction battery pack (14). The first data (D1) and the second data (D2) relate to a plurality of traction battery packs (14) of vehicles (12) out of a group (64) of vehicles (12). The first data (D2) and the second data (D2) are labelled with labelling data indicative of a presence or absence of an anomaly of the associated traction battery pack (14). The method further comprises training the data model (56) based on the labelled first data (D1) and the labelled second data (D2). The disclosure further relates to a method for detecting an anomaly in a traction battery pack (14) of a vehicle (12). Moreover, the disclosure is directed to a method for handling an anomaly in a traction battery pack (14) of a vehicle (12).

A device for controlling a traction converter comprises a monitor unit (402) to monitor a status of at least one component of the traction converter (300) over time to generate monitoring information. An analysis module (403) determines an operating mode based on the monitoring information. A controller (401) controls the traction converter according to the operating mode. Monitoring information can be indicative of a status of a power semiconductor (S1-S6) of the traction converter, a direct current link capacitor (C_OC) of the traction converter, or a heatsink (302) of the traction converter.

The disclosure relates to a method for controlling a resistance element welding process. The method comprises obtaining first data (D1) indicative of an electric resistance of an assembly (46) to be welded. The electric resistance is measured between a first welding electrode (12) and a second welding electrode (14). The method further comprises comparing the first data (D1) to a resistance range, and causing or permitting resistance element welding of the assembly (46) to be welded if the first data (D1) is within the resistance range. Moreover, the disclosure is directed to a data processing apparatus (32), to a computer program (40) and to a computer-readable storage medium (38) for performing the method. Furthermore, the disclosure provides a resistance element welding apparatus (10).

The disclosure relates to a body component (100) for a vehicle (120). The body component (100) comprises a draining means (230). The draining means (230) comprises at least one opening (530) formed as a plastically deformed opening in the body component (100). The draining means (230) further comprises a sealing material (311) sealing the at least one opening (530). The disclosure further relates to a vehicle (120) comprising a body component (100). Further, the disclosure relates to a method for forming a draining means (230) in a body component (100).

The disclosure relates to a stud welding head (200). The stud welding head (200) comprises a housing (210), a movable positioning leg (220) being configured to move with respect to the housing (210). Moreover, the stud welding head (200) comprises at least one spatter removing blade (230) being rigidly fixed to the housing (210). A cutting edge (231) of the at least one spatter removing blade (230) is arranged adjacent to a surface of the movable positioning leg (220), such that a movement of the movable positioning leg (220) at least partially removes a weld spatter accumulated (291), from stud welding, on the surface of the movable positioning leg (220). The disclosure further relates to a system for stud welding.

A grommet assembly for a fluid, the grommet assembly comprising: a grommet having a grommet wall that defines a passage for routing the fluid through a panel, and a spigot having a tubular body with a first tubular portion and a second tubular portion, an inner surface of the first tubular portion comprising engagement means; wherein the spigot is configured to be rotated for engagement with the grommet such that the first tubular portion is fluidly tightened against the panel.

The disclosure relates to a heating, ventilation, and air conditioning (HVAC) system for a vehicle, wherein the system is operable in at least two operation modes and the system comprises: a first heat exchanger (241); a second heat exchanger (242); and an air rejection port (271) arranged between the first and second heat exchanger; wherein: in a first operation mode of the system, the first heat exchanger is used for cooling in the system and the second heat exchanger is used for heating in the system; in a second operation mode of the system, the first heat exchanger is used for heating in the system and the second heat exchanger is used for cooling in the system; and the air rejection port is arranged for rejecting at least a portion of air, transported in the system, to outside environment of the vehicle in any one of the at least two operation modes of the system.

The disclosure relates to a method for determining a driveable zone (12) for a vehicle (10). The method comprises obtaining first data indicative of a surrounding of the vehicle (10) and obtaining second data indicative of a surrounding of the vehicle (10). The first data is based on first sensor data from a sensor of a first type. The second data is based on second sensor data from a sensor of a second type. The method further comprises obtaining third data based on the first data and the second data. The third data is indicative of a grid map comprising a plurality of grid cells. At least one of the plurality of grid cells is indicated as driveable or non-driveable. Additionally, the method comprises obtaining fourth data based on the third data. The fourth data is indicative of a polygon (68) at least partially delimiting the driveable zone (12). Furthermore, a method for controlling a vehicle (10), a data processing apparatus, a vehicle (10), a computer program, and a computer-readable storage medium are presented.

The disclosure relates to a computer-implemented method for training an artificial intelligence, AI, model (10), the method comprising: causing a first training of the AI model (10) based on data (1) of a first training dataset; causing a training of a reinforcement learning, RL, agent (20) for generating adversary noise data (2) based on input data (4) for the RL agent (20) comprising at least a part of input data (1) for the AI model (10) in the first training dataset; obtaining, by use of the adversary noise data (2) generated by the RL agent (20), a second training dataset, wherein the adversary noise data (2) is generated by the RL agent (20) based on the input data (1) for the AI model (10) in the first training dataset and wherein input data of the second training dataset comprise augmented input data (3) for the AI model (10); and causing a second training of the AI model (10) based on data of the second dataset.

A method of controlling a traction inverter of an electric machine including receiving a torque estimation from a torque meter based on hardware or software connected to the traction inverter; receiving a parameter data of a power semiconductor of the traction inverter semiconductor monitor; determining a health prediction of the power semiconductor based on the parameter data; determining an operating mode of the traction inverter based on the parameter data, the health prediction, and the torque estimation; and generating a control instruction based on the operating mode, wherein the control instruction includes a gate control of a gate of the traction inverter, a current control of a current to the power semiconductor, or a flow control to control a distribution of cooling fluid to the power semiconductor.

A method of controlling a traction inverter of an electric machine including receiving a torque estimation from a torque meter connected to the traction inverter; receiving a parameter data of a power semiconductor of the traction inverter semiconductor monitor; determining a health prediction of the power semiconductor based on the parameter data; determining an operating mode of the traction inverter based on the torque estimation, a parameter data of a power semiconductor and the health prediction of a power semiconductor; and generating a control instruction based on the operating mode, wherein the control instruction includes a first gate control of a gate of the traction inverter, a second gate control of a plurality of gates of the power semiconductor, or a current control of a current to the power semiconductor.

Techniques for automated overlay correction of steering angle with minimal driver interference are provided. In an example, a method comprises determining, by a system onboard a vehicle comprising a processor, a level of awareness of a driver. The method can further comprise detecting, by the system, a hazard. The method can further comprise regulating, by the system, lateral control of the vehicle based on the detected hazard and determined level of awareness of the driver.

A power supply device comprises a secondary inductor (Ls) configured to form a transformer with a primary inductor (Lp). A first terminal of the secondary inductor is electrically connected to a second terminal of the secondary inductor via a second capacitor (C2), a inductor (Lc), and a third capacitor (C3), electrically connected in series. Two terminals of the third capacitor (C3) are electrically connected to respective output terminals to provide an output voltage (Vout). Two terminals of the third capacitor (C3) are electrically connected to the respective output terminals via an electronic network comprising a plurality of diodes (D1, D2) and a plurality of further capacitors (C4, C5, Cout). The power supply device may be implemented on a single chip or a dual chip.

A power module comprises a positive direct current terminal (DCP), a negative direct current terminal (DCN), a neutral terminal (N) and an alternating current terminal (AC). The positive direct current terminal (DCP) is connected to the alternating current terminal (AC) via a first switching element (S1). The neutral terminal (N) is connected to the alternating current terminal (AC) via a third switching element (S3) and a second switching element (S2). The negative direct current terminal (DCN) is connected to the alternating current terminal (AC) via a fourth switching element (S4). The power module further comprises a top substrate (311) and a bottom substrate (312) facing the top substrate (311). At least one of the switching elements (S1, S2, S3, S4) is fixed to the top substrate (311) and at least one of the switching elements (S1, S2, S3, S4) is fixed to the bottom substrate (312).

The disclosure relates to a method for operating a steering system for a vehicle, wherein the steering system is operable in at least two steering capability modes, each steering capability mode characterized by at least one steering capability limit, wherein the method comprises: obtaining data indicative of the steering system reaching the steering capability limit of a steering capability mode of the at least two steering capability modes; and in response to obtaining the data, causing a corresponding feedback to the driver via a torque of a steering wheel of the car. Further, the present disclosure relates to a corresponding data processing apparatus, a corresponding computer program, and a corresponding computer-readable storage medium. Additionally, the present disclosure relates to a steering system for a vehicle and to the vehicle.

The disclosure relates to a method for estimating friction between a drivable surface and a tire of a vehicle and to a method for controlling the vehicle. The disclosure relates to a data processing apparatus, computer program, and computer-readable storage medium, each arranged for executing at least one of the methods, and to the vehicle. The estimating of the friction comprises: obtaining, during first phase of friction probing, first data comprising plurality of data items forming time series and indicating tire forces; obtaining, during second phase of friction probing, second data comprising plurality of data items forming time series and indicating tire forces; performing comparison of the first and second data with regard to reference data associated with at least one reference between the drivable surface and the tire of the vehicle; and indicating, based on result of the comparison, the friction between the drivable surface and the tire.