A computer-implemented method performed in a vehicle control unit (130, 140) for controlling motion of a heavy-duty vehicle (100), the method comprisingobtaining (S1) a vehicle motion request, wherein the vehicle motion request is indicative of a target curvature (creq) and a target acceleration (areq),determining (S2) a motion support device, MSD, control allocation (Ti/ λi/ ωi / δi) based on the vehicle motion request,determining (S3) a dynamic wheel slip angle limit (αlim) based on the vehicle motion request, where dynamic wheel slip angle limit (αlim) increases with a decreasing target acceleration (areq), andcontrolling (S4) the motion of the heavy-duty vehicle (100) based on the MSD control allocation constrained by the dynamic wheel slip angle limit (αlim).
VEHICLE CONTROL BASED ON A DYNAMICALLY CONFIGURED SIDESLIP LIMIT
FAHRZEUGSTEUERUNG BASIEREND AUF EINER DYNAMISCH KONFIGURIERTEN SEITENSCHLUPFGRENZE
COMMANDE DE VÉHICULE BASÉ SUR UNE LIMITE DE DÉRAPAGE CONFIGURÉE DE MANIÈRE DYNAMIQUE
2023-03-01
Patent
Electronic Resource
English
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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