A method for controlling the movement of a heavy vehicle (100a, 100b) comprises: obtaining (S1) information relating to an upcoming vehicle path (p) and a vehicle maneuver (m) along said path; obtaining (S2) information relating to a road friction coefficient (mu) along the upcoming vehicle path (p); configuring (S3) transverse and longitudinal wheel slip limits ([lambda] lim) for at least two wheels of the axles (111, 151, 161, 162) or set-group axles (115, 125, 135, 145) on the heavy vehicle (100a, 100b), wherein transverse and longitudinal wheel slip values correlate with respective transverse and longitudinal tire force values (Fx, Fy) via a predetermined combined tire slip model; determining (S4) a vehicle motion curve (a) for performing a vehicle maneuver (m) along the path (p) as a solution to the nonlinear optimal control problem NOCP; wherein the NOCP is constrained by transverse and longitudinal wheel slip limits ([lambda] lim) and is formulated to take into account the road friction coefficient ([mu]) and/or curvature along the upcoming vehicle path (p); and controlling (S5) the movement of the heavy vehicle (100a, 100b) along the path (p) based on the determined target vehicle movement profile (a).

    一种用于控制重型车辆(100a、100b)的运动的方法,其包括:获得(S1)与即将到来的车辆路径(p)和沿着所述路径的车辆操纵(m)相关的信息;获得(S2)与沿着即将到来的车辆路径(p)的道路摩擦系数(μ)相关的信息;为重型车辆(100a、100b)上的车轴(111、151、161、162)或集总成组车轴(115、125、135、145)的至少两个车轮配置(S3)横向和纵向车轮滑移限制(λlim),其中横向和纵向车轮滑移值经由预先确定的组合轮胎滑移模型与相应的横向和纵向轮胎力值(Fx、Fy)相关;确定(S4)用于沿着路径(p)执行车辆操纵(m)的车辆运动曲线(a)作为非线性最优控制问题NOCP的解;其中NOCP受横向和纵向车轮滑移限制(λlim)的约束,并被公式化以把沿着即将到来的车辆路径(p)的道路摩擦系数(μ)和/或曲率考虑在内;以及基于确定的目标车辆运动曲线(a)控制(S5)重型车辆(100a、100b)沿着路径(p)的运动。


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    Titel :

    Predictive energy and motion management for multi-trailer heavy vehicles


    Weitere Titelangaben:

    用于多挂车重型车辆的预测性能量和运动管理


    Beteiligte:
    TOHD GANDRIS (Autor:in) / NILSSON PETER (Autor:in) / JAKOBSEN BENT (Autor:in) / LAINE LEO (Autor:in)

    Erscheinungsdatum :

    2023-07-18


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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