Robust actuator control methods for heavy-duty vehicle motion management

Patent metadata

Field	Value
Publication number	US-12497006-B2
Application number	US-202118721406-A
Country	US
Kind code	B2
Filing date	Dec 20, 2021
Priority date	Dec 20, 2021
Publication date	Dec 16, 2025
Grant date	Dec 16, 2025

Abstract

A control unit for controlling at least one torque generating MSD on a heavy-duty vehicle. The control unit receives a motion request indicative of a desired positive longitudinal tire force to be generated by the torque generating MSD, obtains an estimated applied torque indicative of a current torque generated by the torque generating MSD, determines a target wheel speed based on the motion request and on the estimated applied torque, and configures the torque generating MSD to maintain the target wheel speed. The control unit is arranged to decrease the target wheel speed in case an increase in configured wheel speed results in a decrease in the estimated applied torque.

First claim

The invention claimed is:

1 . A control unit for controlling at least one torque generating motion support device (“MSD”) on a heavy-duty vehicle,
wherein the control unit is arranged to:
receive a motion request indicative of a desired positive longitudinal tyre force to be generated by the torque generating MSD,
obtain an estimated applied torque indicative of a current positive torque generated by the at least one torque generating MSD,
determine a target wheel speed based on the motion request and on the estimated applied torque, and
configure the torque generating MSD to maintain the target wheel speed,
wherein the control unit is arranged to execute a back-off procedure comprising a decrease of the target wheel speed in case an increase in the configured wheel speed resulted in a corresponding decrease in the estimated applied torque.

2 . The control unit according to claim 1 , wherein the at least one MSD comprises an electric machine, wherein the estimated applied torque is at least in part based on a motor current associated with the electric machine.

3 . The control unit according to claim 1 , wherein the estimated applied torque is at least in part based on an output from a torque sensor.

4 . The control unit according to claim 1 , wherein the at least one MSD comprises a wheel hub electric machine comprising an integrated electronic control unit, ECU arranged to output a signal comprising the estimated applied torque.

5 . The control unit according to claim 1 , wherein the control unit is arranged to determine a relationship between the target wheel speed and the torque generated by the torque generating MSD based on a sequence of estimated applied torques and corresponding configured wheel speeds.

6 . The control unit according to claim 5 , wherein the control unit is arranged to output data indicative of the determined model as a capability signal.

7 . The control unit according to claim 1 , wherein the estimated applied torque is compensated by the control unit for one or more predetermined wheel and/or driveline properties.

8 . The control unit according to claim 1 , wherein the estimated applied torque is determined at least in part based on a predetermined electric machine wind-up characteristic.

9 . The control unit according to claim 1 , further arranged to estimate a current generated tyre force F x as

F
x

=

T
motor

-

J

ω
motor

-

f
⁡
(

Δ
⁢

θ
osc

)

R

where T motor is a determined motor torque, J ω motor is a moment related to a motor inertia, and f(Δθ osc ) is a wind-up effect of the electric machine.

10 . The control unit according to claim 1 , arranged to vary the target wheel speed around a nominal target wheel speed value and to monitor the estimated applied torque in dependence of the variation in target wheel speed.

11 . The control unit according to claim 1 , wherein the control unit is arranged to set a current torque generating capability as the estimated applied torque in case an increase in configured wheel speed results in a decrease in the estimated applied torque.

12 . The control unit according to claim 1 , wherein the control unit is arranged to increase a configured control bandwidth of an MSD actuator in case an increase in configured wheel speed results in a decrease in the estimated applied torque.

13 . The control unit according to claim 1 , wherein the control unit is arranged to:
receive a motion request indicative of a desired negative longitudinal tire force to be generated by the torque generating MSD, wherein the control unit is arranged to increase the target wheel speed w i in case a decrease in configured wheel speed results in an increase in the estimated applied torque.

14 . A vehicle comprising a control unit according to claim 1 .

15 . A computer implemented method performed in a control unit for controlling at least one torque generating motion support device (“MSD”) on a heavy-duty vehicle, the method comprising
receiving a motion request indicative of a desired positive longitudinal tire force to be generated by the torque generating MSD,
obtaining an estimated applied torque indicative of a current positive torque generated by the at least one torque generating MSD,
determining a target wheel speed based on the motion request and on the estimated applied torque, and
configuring the torque generating MSD to maintain the target wheel speed,
the method further comprising executing a back-off procedure comprising a decrease of the target wheel speed w i in case an increase in the configured wheel speed resulted in a corresponding decrease in the estimated applied torque.

16 . A computer program comprising program code for performing the steps of claim 15 when said program code is run on a computer or on processing circuitry of a control unit.

Assignees

• Volvo Truck Corp

Inventors

• Salif Ramadan
• Rydström Mats
• Lindberg Johan
• Laine Leo
• Henderson Leon

Classifications

• B60T2240/02

  Longitudinal grip · CPC title

• B60Y2400/81

  Braking systems · CPC title

• B60T8/1708

  for lorries or tractor-trailer combinations · CPC title

• B60T8/1761 Primary

  responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure · CPC title

• B60T8/17616 Primary

  Microprocessor-based systems · CPC title