Vehicle motion management system and an actuator control system for a vehicle

Patent metadata

Field	Value
Publication number	US-2022153146-A1
Application number	US-202117521935-A
Country	US
Kind code	A1
Filing date	Nov 9, 2021
Priority date	Nov 16, 2020
Publication date	May 19, 2022
Grant date	—

Abstract

The present disclosure relates to a vehicle motion management system as well as an actuator control system of a vehicle. The vehicle motion management system and actuator control system are arranged to control operation of at least one actuator configured to apply a torque to at least one wheel of the vehicle. The vehicle motion management system is configured to transmit a control signal to the actuator control system, wherein the actuator control system is configured to, based on the control signal, generate an operating torque to be executed subject to the torque limit and the desired wheel speed.

First claim

1 . A vehicle motion management system for a vehicle, the vehicle motion management system being connectable to an actuator control system for communication of control signals therebetween, the vehicle motion management system 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 the at least one wheel based on the parameter value relating to the desired wheel force; determine a mapping 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 at least one wheel based on the mapping model; and transmit a control signal to the actuator control system, the control signal being arranged to, when executed by the actuator control system, cause the actuator control system to generate an operating torque to be executed subject to the torque limit and the desired wheel speed.

2 . The vehicle motion management system of claim 1 , wherein the mapping model is based on a predetermined characteristic value of the at least one wheel.

3 . The vehicle motion management system of claim 1 , wherein the mapping model is based on a relationship between wheel force and wheel speed for a predetermined wheel characteristic of the at least one wheel.

4 . The vehicle motion management system of claim 1 , wherein the mapping model is based on a safety parameter indicative of a current operating condition of the vehicle.

5 . The vehicle motion management system of claim 1 , wherein the parameter value relating to the desired wheel speed is a desired wheel slip parameter.

6 . The vehicle motion management system of claim 1 , wherein the torque limit is determined independently from the determined mapping model.

7 . The vehicle motion management system of claim 1 , wherein the mapping model is a first mapping model, the vehicle motion management system being configured to:
determine a second mapping model, the second mapping model based on an increased wheel force compared to the first mapping model for respective wheel speeds.

8 . The vehicle motion management system of claim 7 , wherein the torque limit is a first torque limit, the vehicle motion management system being configured to:
determine a second torque limit relating to a desired wheel speed based on the second mapping model; wherein the transmitted control signal is arranged to, when executed by the actuator control system, cause the actuator control system to generate the operating torque to be executed subject to the desired wheel speed and the first and second torque limits.

9 . The vehicle motion management system of claim 7 , wherein the first and second mapping models are determined based on a predetermined range between wheel force values for a specific wheel speed.

10 . An actuator control system for a vehicle, the actuator control system being connectable to a vehicle motion management system and to at least one actuator configured to apply a torque on at least one wheel of the vehicle, the actuator control system configured to:
receive a control signal from the vehicle motion management system, the control signal being indicative of a torque limit and a parameter value relating to a desired wheel speed for the actuator; and transmit an actuator signal to the actuator for the actuator to generate an operating torque on the at least one wheel subject to the torque limit and the parameter value relating to the desired wheel speed.

11 . The actuator control system of claim 10 , wherein the actuator signal is configured to control the actuator to generate an operating torque without exceeding the torque limit.

12 . The actuator control system of claim 10 , wherein the actuator control system is configured to generate the operating torque based on a current vehicle driveline state for the vehicle.

13 . The actuator control system of claim 10 , wherein the actuator control system is a decentralized actuator control system connectable to a wheel specific actuator configured to control a single wheel of the vehicle.

14 . A method for controlling an actuator of a vehicle, comprising:
determining a parameter value relating to a desired wheel force of at least one wheel of the vehicle; determining a torque limit for the at least one wheel based on the parameter value relating to the desired wheel force; determining a mapping 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 at least one wheel based on the mapping model; and controlling an actuator to generate an operating torque on the at least one wheel subject to the torque limit and the parameter value relating to the desired wheel speed.

Assignees

• Volvo Truck Corp

Inventors

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

Classifications

• B60W2520/26

  Wheel slip · CPC title

• B60W2300/12

  Trucks; Load vehicles · CPC title

• B60W30/18172 Primary

  Preventing, or responsive to skidding of wheels · CPC title

• B60W10/184

  with wheel brakes · CPC title

• B60W10/08

  including control of electric propulsion units, e.g. motors or generators · CPC title