A computer-implemented method performed in a vehicle control unit for controlling motion of a heavy-duty vehicle, the method comprising obtaining a vehicle motion request, wherein the vehicle motion request is indicative of a target curvature creq and a target acceleration areq, determining a motion support device (MSD) control allocation (Ti/λi/ωi/δi) based on the vehicle motion request, determining a dynamic longitudinal wheel slip limit (λlim/ωlim) based on the vehicle motion request and separately from the MSD control allocation, where the dynamic longitudinal wheel slip limit increases with a decreasing target curvature, and controlling the motion of the heavy-duty vehicle based on the MSD control allocation constrained by the dynamic longitudinal wheel slip limit.


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    Title :

    VEHICLE CONTROL BASED ON DYNAMICALLY CONFIGURED LONGITUDINAL WHEEL SLIP LIMITS


    Additional title:

    FAHRZEUGSTEUERUNG AUF BASIS DYNAMISCH KONFIGURIERTER LÄNGSRADSCHLUPFGRENZEN
    COMMANDE DE VÉHICULE BASÉE SUR DES LIMITES DE PATINAGE LONGITUDINAL DE ROUE CONFIGURÉES DYNAMIQUEMENT


    Contributors:
    GAO YANGYAN (author) / HENDERSON LEON (author) / PROKES JAKUB (author)

    Publication date :

    2024-03-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    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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