Vehicle control based on dynamically configured longitudinal wheel slip limits

Patent metadata

Field	Value
Publication number	US-12515639-B2
Application number	US-202118287496-A
Country	US
Kind code	B2
Filing date	Apr 26, 2021
Priority date	Apr 26, 2021
Publication date	Jan 6, 2026
Grant date	Jan 6, 2026

Abstract

A computer-implemented method performed in a vehicle control unit for controlling motion of a heavy-duty vehicle, the method comprising obtaining a vehicle motion request, wherein the vehicle motion request is indicative of a target curvature creq and a target acceleration areq, determining a motion support device (MSD) control allocation (Ti/λi/ωi/δi) based on the vehicle motion request, determining a dynamic longitudinal wheel slip limit (λlim/ωlim) based on the vehicle motion request and separately from the MSD control allocation, where the dynamic longitudinal wheel slip limit increases with a decreasing target curvature, and controlling the motion of the heavy-duty vehicle based on the MSD control allocation constrained by the dynamic longitudinal wheel slip limit.

First claim

The invention claimed is:

1 . A computer-implemented method performed in a vehicle control unit for controlling motion of a heavy-duty vehicle, the method comprising:
obtaining a vehicle motion request, wherein the vehicle motion request is indicative of a target curvature and a target acceleration; determining a motion support device (MSD) control allocation based on the vehicle motion request; determining a dynamic longitudinal wheel slip limit based on the vehicle motion request and separately from the MSD control allocation, where the dynamic longitudinal wheel slip limit increases with a decreasing target curvature, and where the dynamic longitudinal wheel slip limit is determined by minimizing local Hamiltonian functions at one or more wheels; and controlling the motion of the heavy-duty vehicle based on the MSD control allocation constrained by the dynamic longitudinal wheel slip limit.

2 . The method of claim 1 , comprising obtaining the vehicle motion request from a driver input and/or from an autonomous or semi-autonomous traffic situation management (TSM) function.

3 . The method of claim 1 , comprising determining the MSD control allocation based on a B-matrix control allocation method.

4 . The method of claim 1 , comprising determining the MSD control allocation at least partly as a target wheel torque.

5 . The method of claim 1 , comprising determining the MSD control allocation at least partly as a target wheel slip or wheel speed relative to ground.

6 . The method of claim 1 , comprising determining the MSD control allocation at least partly as a target steering angle.

7 . The method of claim 1 , comprising determining the dynamic longitudinal wheel slip limit based on a current wheel slip angle and on a required lateral force, where the dynamic longitudinal wheel slip limit decreases if the current wheel slip angle increases.

8 . The method of claim 1 , comprising determining a dynamic steering angle limit in addition to the dynamic longitudinal wheel slip limit.

9 . The method of claim 1 , wherein each minimization of local Hamiltonian functions at one or more wheels comprises a linear search of a tire force curve.

10 . The method of claim 1 , comprising determining the dynamic longitudinal wheel slip limit based on a stability condition involving a maximum acceptable yaw moment of the vehicle.

11 . A computer program product comprising program code for performing, when executed by a computer, the steps of claim 1 .

12 . A non-transitory computer readable medium comprising a computer program comprising program code, which when executed by a computer, performs the steps of claim 1 .

13 . A control unit, comprising:
processing circuitry; an interface coupled to the processing circuitry; and a memory coupled to the processing circuitry, wherein the memory comprises machine readable computer program instructions that, when executed by the processing circuitry, causes the control unit to perform operations of:
obtaining a vehicle motion request, wherein the vehicle motion request is indicative of a target curvature and a target acceleration;
determining a motion support device (MSD) control allocation based on the vehicle motion request;
determining a dynamic longitudinal wheel slip limit based on the vehicle motion request and separately from the MSD control allocation, where the dynamic longitudinal wheel slip limit increases with a decreasing target curvature, and where the dynamic longitudinal wheel slip limit is determined by minimizing local Hamiltonian functions at one or more wheels; and
controlling the motion of the heavy-duty vehicle based on the MSD control allocation constrained by the dynamic longitudinal wheel slip limit.

14 . A heavy-duty vehicle comprising the control unit of claim 13 .

Assignees

• Volvo Truck Corp

Inventors

• Gao Yangyan
• Henderson Leon
• Prokes Jakub

Classifications

• B60W2720/30

  Wheel torque · CPC title

• B60W2720/26

  Wheel slip · CPC title

• B60W2300/125

  Heavy duty trucks · CPC title

• B60W30/18145

  Cornering · CPC title

• B60T2201/16

  Curve braking control, e.g. turn control within ABS control algorithm · CPC title