Vehicle motion management system and motion support device control system

Patent metadata

Field	Value
Publication number	US-12337696-B2
Application number	US-202118252794-A
Country	US
Kind code	B2
Filing date	Sep 7, 2021
Priority date	Nov 16, 2020
Publication date	Jun 24, 2025
Grant date	Jun 24, 2025

Abstract

A vehicle motion management (VMM) system for a heavy-duty vehicle, configured to obtain a desired wheel force value of a wheel of the vehicle; determine a torque limit for a first motion support device (MSD) associated with the wheel based on the desired wheel force value; determine a tire model based on a relationship between wheel force and wheel speed of the wheel; determine a desired wheel speed for the first MSD based on the tire model; and determine a torque fill request for a second MSD of the vehicle based on the desired wheel force and on a torque capability of the first MSD. The VMM system determines the torque fill request for the second MSD in dependence of the torque limit for the first MSD in case the operating torque of the first MSD is limited by the torque limit, and to determine the torque fill request for the second MSD in dependence of an applied torque status signal in case the operating torque of the first MSD is not limited by the torque limit.

First claim

The invention claimed is:

1. A vehicle motion management, VMM, system for a heavy-duty vehicle, the VMM system being connectable to a motion support device, MSD, control system for communication of control signals therebetween, wherein the VMM system is configured to:
obtain a parameter value relating to a desired wheel force of at least one wheel of the vehicle;
determine a torque limit for a first MSD associated with the at least one wheel based on the parameter value relating to the desired wheel force;
determine a tire model based on a relationship between wheel force and wheel speed of the at least one wheel;
determine a parameter value relating to a desired wheel speed for the first MSD associated with the at least one wheel based on the tire model;
determine a torque fill request for a second MSD of the heavy-duty vehicle based on the desired wheel force and on a torque capability of the first MSD; and
transmit a control signal to the MSD control system, the control signal being arranged to, when executed by the MSD control system, cause the MSD control system to generate an operating torque by the first MSD to be executed subject to the torque limit and the desired wheel speed, and to generate an operating torque by the second MSD to be executed subject to the torque fill request,

wherein the VMM system is further configured to:
receive a limit status signal associated with the first MSD indicative of if the operating torque of the first MSD is limited by the torque limit, and to
determine the torque fill request for the second MSD in dependence of the torque limit for the first MSD in case the operating torque of the first MSD is limited by the torque limit, and to determine the torque fill request for the second MSD in dependence of an applied torque status signal received from the first MSD in case the operating torque of the first MSD is not limited by the torque limit.

2. The VMM system according to claim 1 , wherein the limit status signal associated with the first MSD comprises an indication of if the first MSD is operating in a speed limited mode of operation.

3. The VMM system according to claim 1 , wherein the limit status signal associated with the first MSD comprises an indication of if the first MSD is operating at a motor axle speed within a predetermined margin from a requested motor axle speed.

4. The VMM system according to claim 1 , wherein the limit status signal associated with the first MSD is configured to account for operation at vehicle speeds below a low speed threshold.

5. The VMM system according to claim 1 , wherein the tire model is based on a predetermined characteristic value of the at least one wheel.

6. The VMM system according to claim 1 , wherein the tire model is based on a relationship between wheel force and wheel speed for a predetermined wheel characteristic of the at least one wheel.

7. The VMM system according to claim 1 , wherein the tire model is based on a safety parameter indicative of a current operating condition of the vehicle.

8. The VMM system according to claim 1 , wherein the parameter relating to the desired wheel speed is a desired wheel slip parameter.

9. The VMM system according to claim 1 , wherein the torque limit is determined independently from the determined tire model.

10. The VMM system according to claim 1 , wherein the tire model is a first tire model, the VMM system being configured to:
determine a second tire model, the second tire model is based on an increased wheel force compared to the first tire model for respective wheel speeds.

11. The VMM system according to claim 10 , wherein the torque limit is a first torque limit, the VMM system being configured to:
determine a second torque limit relating to a desired wheel speed based on the second tire model;

wherein the transmitted control signal is arranged to, when executed by the MSD control system, cause the MSD control system to generate the operating torque to be executed subject to the desired wheel speed and the first and second torque limits.

12. The VMM system according to claim 10 , wherein the first and second tire models are determined based on a predetermined range between wheel force values for a specific wheel speed.

Assignees

• Volvo Truck Corp

Inventors

• Arikere Adithya
• Ray Sidhant
• Henderson Leon
• Laine Leo

Classifications

• B60T2270/86

  Optimizing braking by using ESP vehicle or tyre model · CPC title

• B60T8/172

  Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters {(B60T8/17551 takes precedence)} · CPC title

• B60T8/1708 Primary

  for lorries or tractor-trailer combinations · CPC title

• B60L2260/28

  Four wheel or all wheel drive · CPC title

• B60L2240/465

  Slip · CPC title