To provide a control unit and method which facilitate vehicle control in a safe, efficient and robust method.SOLUTION: A computer-implemented method performed in a vehicle control unit (130, 140) for controlling motion of a heavy-duty vehicle (100), comprises the steps of: obtaining a vehicle motion request that is indicative of a target curvature (creq) and a target acceleration (areq); determining an MSD (motion support device) control allocation (Ti/λi/ωi/δi) based on the vehicle motion request; determining a dynamic wheel slip angle limit (αlim) that increases with a decreasing target acceleration (areq) based on the vehicle motion request; and controlling the motion of the heavy-duty vehicle (100) based on the MSD control allocation constrained by the dynamic wheel slip angle limit (αlim).SELECTED DRAWING: Figure 1
【課題】安全で、効率的で、頑健な(ロバストな)方法で車両制御を容易にする制御ユニット及び方法を提供する。【解決手段】大型車両(100)の運動を制御するために車両制御ユニット(130,140)で実施されるコンピュータ実装式方法は、目標曲率(creq)及び目標加速度(areq)を示す車両運動要求を取得すること、車両運動要求に基づいて、MSD(運動サポートデバイス)制御割り当て(Ti/λi/ωi/δi)を決定すること、車両運動要求に基づいて、目標加速度(areq)の減少に応じて増加する動的車輪スリップ角度限界(αlim)を決定すること、及び、動的車輪スリップ角度限界(αlim)によって制限されたMSD制御割り当てに基づいて、大型車両(100)の運動を制御すること、を含む。【選択図】図1
VEHICLE CONTROL BASED ON DYNAMICALLY CONFIGURED SIDESLIP LIMIT
動的に構成されたサイドスリップ限界に基づく車両制御
2023-03-13
Patent
Electronic Resource
Japanese
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