US 11,926,326 B2
System and a method for controlling wheel slip of a vehicle
Adithya Arikere, Gothenburg (SE); Leo Laine, Härryda (SE); Leon Henderson, Härryda (SE); and Sidhant Ray, Gothenburg (SE)
Assigned to VOLVO TRUCK CORPORATION, Gothenburg (SE)
Filed by VOLVO TRUCK CORPORATION, Gothenburg (SE)
Filed on Nov. 9, 2021, as Appl. No. 17/454,165.
Claims priority of application No. 20209772 (EP), filed on Nov. 25, 2020.
Prior Publication US 2022/0161801 A1, May 26, 2022
Int. Cl. B60W 30/18 (2012.01); B60W 10/08 (2006.01); B60W 10/18 (2012.01); B60W 50/00 (2006.01)
CPC B60W 30/18172 (2013.01) [B60W 10/08 (2013.01); B60W 10/18 (2013.01); B60W 50/00 (2013.01); B60W 2050/0026 (2013.01); B60W 2520/105 (2013.01); B60W 2520/125 (2013.01); B60W 2520/266 (2013.01); B60W 2530/20 (2013.01); B60W 2720/10 (2013.01); B60W 2720/12 (2013.01); B60W 2720/266 (2013.01); B60W 2720/406 (2013.01)] 23 Claims
OG exemplary drawing
 
11. A method executed in a vehicle control unit, VCU, for controlling wheel slip of a vehicle, wherein the vehicle comprises at least two wheels driven by at least one primary actuator via an open differential, the method comprising:
requesting the primary actuator to rotate at a speed resulting in a slip λem of the primary actuator,
determining a signed wheel slip limit λlim by adding a configurable value to the slip λem of the primary actuator, such that λlim>λem, and
controlling said at least two wheels of the vehicle to rotate at wheel speeds resulting in respective wheel slips λl, λr below the signed wheel slip limit λlim, wherein each one of λl, λr and λem are signed numerical values.