US 12,269,453 B2
Method for estimating vehicle motion state during a vehicle maneuver
Leon Henderson, Härryda (SE); and Leo Laine, Härryda (SE)
Assigned to VOLVO TRUCK CORPORATION, Gothenburg (SE)
Appl. No. 17/435,986
Filed by VOLVO TRUCK CORPORATION, Gothenburg (SE)
PCT Filed Mar. 7, 2019, PCT No. PCT/EP2019/055774
§ 371(c)(1), (2) Date Sep. 2, 2021,
PCT Pub. No. WO2020/177873, PCT Pub. Date Sep. 10, 2020.
Prior Publication US 2022/0176923 A1, Jun. 9, 2022
Int. Cl. B60T 8/172 (2006.01); B60G 17/0195 (2006.01); B60T 8/17 (2006.01)
CPC B60T 8/172 (2013.01) [B60G 17/0195 (2013.01); B60T 8/1708 (2013.01); B60T 2210/12 (2013.01); B60T 2210/22 (2013.01); B60T 2210/36 (2013.01); B60T 2240/06 (2013.01); B60T 2250/03 (2013.01); B60T 2270/406 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A computer implemented method in a vehicle, the vehicle including a primary system, for estimating vehicle motion state during a vehicle maneuver when the primary system is not available,
wherein the vehicle motion state comprises vehicle position, the method comprising;
determining that the primary system is unavailable;
obtaining a trigger signal indicating an onset of the vehicle maneuver,
lowering a liftable wheel axle,
controlling at least one wheel on the liftable wheel axle, to be in a free-rolling condition, wherein the free-rolling condition comprises reduced braking,
measuring one or more parameters related to revolution of the at least one wheel on the liftable wheel axle in free-rolling or reduced braking condition, and
estimating the vehicle motion state based on the measured parameters.