A computer-implemented method for controlling at least one driving and/or braking wheel (102, 310) of a heavy vehicle (100), the method comprising: configuring (S1) a default inverse tire model and a reinforced inverse tire model, each inverse tire model representing a respective relationship (200) between a longitudinal wheel slip (lambda) and a longitudinal wheel force (Fx) at the wheel (102, 310), wherein the enhanced inverse tire model is associated with a higher maximum available wheel slip value ([lambda] lim) of the wheel (102, 310) compared to the default inverse tire model; obtaining (S2) a motion request (areq) indicating a desired longitudinal force (Fx) to be generated by the wheel (102, 310); selecting (S3) the enhanced inverse tire model as an active inverse tire model in response to detecting an enhancement signal, otherwise selecting the default inverse tire model as an active inverse tire model; and controlling (S4) the at least one driving and/or braking wheel (102, 310) according to the motion request (areq) and based on the active inverse tire model.
一种用于控制重型车辆(100)的至少一个驱动轮和/或制动轮(102、310)的计算机实施的方法,所述方法包括:配置(S1)默认逆轮胎模型和增强逆轮胎模型,其中每个逆轮胎模型表示所述车轮(102、310)处的纵向车轮滑移(λ)和纵向车轮力(Fx)之间的相应关系(200),其中与所述默认逆轮胎模型相比,所述增强逆轮胎模型与所述车轮(102、310)的更高的最大可获得车轮滑移值(λlim)相关联;获得(S2)运动请求(areq),所述运动请求指示要由所述车轮(102、310)生成的期望的纵向力(Fx);响应于检测到增强信号而选择(S3)所述增强逆轮胎模型作为主动逆轮胎模型,否则选择所述默认逆轮胎模型作为主动逆轮胎模型;以及根据所述运动请求(areq)并基于所述主动逆轮胎模型来控制(S4)所述至少一个驱动轮和/或制动轮(102、310)。
Inverse tire model enhancement function for heavy vehicles
用于重型车辆的逆轮胎模型增强功能
2024-05-31
Patent
Electronic Resource
Chinese
IPC: | B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / 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 |