Method for validating a model associated with vehicle dynamics

Patent metadata

Field	Value
Publication number	US-12330653-B2
Application number	US-201917596295-A
Country	US
Kind code	B2
Filing date	Jun 14, 2019
Priority date	Jun 14, 2019
Publication date	Jun 17, 2025
Grant date	Jun 17, 2025

Abstract

A method for validating a model of vehicle dynamics for use in autonomous driving. The method comprising setting a wheel slip limit on an operation of at least one vehicle torque device, obtaining a model of vehicle dynamics based on the set wheel slip limit, and validating the model of vehicle dynamics based on the set wheel slip limit.

First claim

The invention claimed is:

1. A computer implemented method for validating a model of vehicle dynamics for use in autonomous driving, the method comprising:
determining a maximum wheel slip limit;
setting a wheel slip limit on an operation of at least one vehicle torque device based on the maximum wheel slip limit;
obtaining a model associated with vehicle dynamics, the model of vehicle dynamics being a model representing a relationship between a lateral tire force acting on a vehicle and a wheel slip value, with the wheel slip value being restricted within the wheel slip limit;
validating the model of vehicle dynamics based on the set wheel slip limit; and controlling the at least one vehicle torque device based on the set wheel slip limit, wherein the wheel slip limit comprises a limit on a longitudinal tire slip, s x , given by s x =

R
⁢
ω

-

v
x

❘
"\[LeftBracketingBar]"

R
⁢
ω

❘
"\[RightBracketingBar]"

,

where R denotes a radius of a wheel tire, ω denotes an angular velocity of the wheel tire and v x denotes a longitudinal speed of the tire, wherein the wheel slip limit comprises a limit on a lateral tire slip, S yt , given by where v y denotes a tire translational velocity, R denotes a radius of a wheel tire, and ω denotes an angular velocity of the wheel tire.

2. The method according to claim 1 , wherein the at least one vehicle torque device comprises a braking device.

3. The method according to claim 1 , wherein the at least one vehicle torque device comprises a propulsion device.

4. The method according to claim 1 , comprising setting a wheel slip control bandwidth requirement or rise time requirement on the operation of the at least one vehicle torque device.

5. The method according to claim 1 , wherein the wheel slip limit is configured in dependence of a road friction condition or a road friction coefficient μ.

6. The method according to claim 1 , wherein the wheel slip limit comprises a range of acceptable wheel slip values and a tolerance value indicating a required wheel slip control precision.

7. The method according to claim 1 , wherein the model of vehicle dynamics comprises a lateral steering capability.

8. The method according to claim 1 , wherein the model of vehicle dynamics models a lateral tire force F y acting on the vehicle.

9. The method according to claim 1 , wherein the model of vehicle dynamics comprises a cornering stiffness value associated with the vehicle.

10. The method according to claim 1 , comprising transmitting one or more model capabilities corresponding to the validated model of vehicle traffic situation management unit.

11. The method according to claim 1 , wherein the model of vehicle dynamics is an explicit model of vehicle dynamics.

12. The method according to claim 1 , wherein the model of vehicle dynamics is arranged to account for a tire and/or torque device wear effect.

13. The method according to claim 1 , wherein the model of vehicle dynamics is arranged to account for an axle load and/or an axle load distribution of the vehicle.

14. The method according to claim 1 , comprising authenticating the vehicle torque device to determine compliance with the wheel slip limit.

15. A non-transitory computer readable medium carrying a computer program comprising program code for performing the steps of claim 1 when said program code is run on a computer or on processing circuitry of a control unit.

16. The control unit arranged to validate a model of vehicle dynamics for use in autonomous driving, the control unit being configured to perform the steps of the method according to claim 1 .

17. The vehicle comprising the control unit according to claim 16 .

Assignees

• Volvo Truck Corp

Inventors

• Laine Leo
• Klintberg Emil
• Nilsson Peter

Classifications

• B60W2520/266

  Slip values between left and right wheel · CPC title

• B60W2520/263

  Slip values between front and rear axle · CPC title

• B60W2520/10

  Longitudinal speed · CPC title

• B60W10/184

  with wheel brakes · CPC title

• B60W10/04

  including control of propulsion units · CPC title