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.
VEHICLE CONTROL BASED ON DYNAMICALLY CONFIGURED LONGITUDINAL WHEEL SLIP LIMITS
FAHRZEUGSTEUERUNG AUF BASIS DYNAMISCH KONFIGURIERTER LÄNGSRADSCHLUPFGRENZEN
COMMANDE DE VÉHICULE BASÉE SUR DES LIMITES DE PATINAGE LONGITUDINAL DE ROUE CONFIGURÉES DYNAMIQUEMENT
2024-03-06
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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