A computer-implemented method performed in a vehicle control unit for controlling motion of a heavy-duty vehicle. The method includes 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 wheel slip angle limit based on the vehicle motion request, where dynamic wheel slip angle limit increases with a decreasing target acceleration, and controlling the motion of the heavy-duty vehicle based on the MSD control allocation constrained by the dynamic wheel slip angle limit.
VEHICLE CONTROL BASED ON A DYNAMICALLY CONFIGURED SIDESLIP LIMIT
2023-03-02
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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