The invention relates to wheel slip-based vehicle motion management for a heavy vehicle, in particular a control unit (130, 140, 300) for controlling a heavy vehicle (100), where the control unit is arranged to obtain an acceleration profile (areq) and a curvature profile (creq) representative of a desired maneuver of the vehicle (100), the control unit (130, 140, 300) comprising a force generation module (310) configured to generate a force from the acceleration profile (areq) to the curvature profile (creq), the control unit (130, 140, 300) comprises a force generation module configured to determine a set of global vehicle forces and moments required to perform 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 global vehicle forces and moments by generating one or more respective wheel forces, and an inverse tire model block (330) configured to map said one or more wheel forces to an equivalent wheel slip (lambda), where the control unit (130, 140, 300) is arranged to request the wheel slip (lambda) from the MSD.

    本发明涉及一种用于重型车辆的基于车轮滑移的车辆运动管理,尤其是一种用于控制重型车辆(100)的控制单元(130、140、300),其中该控制单元被布置成获得表示车辆(100)的期望机动的加速度曲线(areq)和曲率曲线(creq),控制单元(130、140、300)包括力生成模块(310),该力生成模块被配置成确定执行所述期望机动所需的全局车辆力和力矩集合,控制单元(130、140、300)还包括运动支持设备MSD协调模块(320),该MSD协调模块(320)被布置成协调一个或多个MSD,以通过生成一个或多个相应的车轮力来共同提供全局车辆力和力矩,以及逆轮胎模型块(330),该逆轮胎模型块(330)被配置成将所述一个或多个车轮力映射为等效的车轮滑移(λ),其中,控制单元(130、140、300)被布置成从MSD请求车轮滑移(λ)。


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    Title :

    Wheel slip based vehicle motion management for heavy vehicles


    Additional title:

    用于重型车辆的基于车轮滑移的车辆运动管理


    Contributors:

    Publication date :

    2022-05-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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