A control unit (130, 140, 300) for controlling a heavy duty vehicle (100),wherein the control unit is arranged to obtain an acceleration profile (areq) and a curvature profile (creq) indicative of a desired maneuver by the vehicle (100),the control unit (130, 140, 300) comprising a force generation module (310) configured to determine a set of global vehicle forces and moments required to execute the desired maneuver,the control unit (130, 140, 300) further comprising a motion support device, MSD, coordination module (320) arranged to coordinate one or more MSDs to collectively provide the global vehicle forces and moments by generating one or more respective wheel forces, andan inverse tyre model (330) configured to map the one or more wheel forces into equivalent wheel slips (λ),wherein the control unit (130, 140, 300) is arranged to request the wheel slips (λ) from the MSDs.
WHEEL SLIP BASED VEHICLE MOTION MANAGEMENT FOR HEAVY DUTY VEHICLES
2022-04-28
Patent
Elektronische Ressource
Englisch
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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