A backup control unit (280) for controlling motion of a heavy-duty vehicle (100) during a minimum risk maneuver, where the backup control unit (280) is arranged to receive data indicative of a planned sequence of vehicle control commands (276) from a main vehicle control unit (270). The backup control unit (280) comprises a first vehicle model (281) configured to map the planned sequence of vehicle control commands (276) into a desired vehicle behavior and is arranged to obtain a measured vehicle behavior from one or more vehicle sensors (290). Also, the back-up control unit (280) is arranged to determine an adjusted sequence of vehicle control commands (285) based on the planned sequence of vehicle control commands (276) and on a deviation between the desired vehicle behavior and the measured vehicle behavior, and to transmit the adjusted sequence of vehicle control commands (285) to a motion support device, MSD, control unit (230) of the vehicle (100).
VEHICLE CONTROL FOR IMPROVED MINIMUM RISK MANEUVERS
FAHRZEUGSTEUERUNG FÜR VERBESSERTE MINDESTRISIKOMANÖVER
COMMANDE DE VÉHICULE POUR DES MANOEUVRES À RISQUE MINIMAL AMÉLIORÉ
2023-03-22
Patent
Electronic Resource
English
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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