US 12,296,829 B2
Control unit and a method for controlling a wheel on a vehicle
Adithya Arikere, Gothenburg (SE); Niklas Fröjd, Mölnlycke (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 Oct. 29, 2021, as Appl. No. 17/452,908.
Claims priority of application No. 20206187 (EP), filed on Nov. 6, 2020.
Prior Publication US 2022/0144279 A1, May 12, 2022
Int. Cl. B60W 30/18 (2012.01); B60T 8/175 (2006.01); B60T 8/1761 (2006.01); B60T 8/1763 (2006.01)
CPC B60W 30/18172 (2013.01) [B60T 8/175 (2013.01); B60T 8/1761 (2013.01); B60T 8/1763 (2013.01); B60W 2520/10 (2013.01); B60W 2520/12 (2013.01); B60W 2520/26 (2013.01); B60W 2520/28 (2013.01); B60W 2520/30 (2013.01); B60W 2530/10 (2013.01); B60W 2530/20 (2013.01); B60W 2555/20 (2020.02); B60W 2720/28 (2013.01); B60W 2720/30 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A control unit for controlling a vehicle wheel provided with a tire, wherein the control unit comprises or is operatively connected to a data storage, which data storage has a stored tire model for the tire,
wherein the control unit is configured to:
representing a longitudinal tire force, in the tire model, as at least a function of a longitudinal wheel slip, wherein the longitudinal wheel slip is dependent on a rotational speed of the wheel and a velocity of a vehicle,
receiving at least one tire parameter input, which tire parameter input includes a measured value of at least one parameter which affects a longitudinal slip stiffness of the tire,
correct said function in the stored tire model by applying a slip stiffness correction factor on said function based on the received tire parameter input, wherein the correction occurs at the same or at different intervals dependent on the received tire parameter input;
establishing a relation between the slip stiffness correction factor and the received tire parameter input is established by identifying properties of the tire at different conditions,
obtaining or generating a wheel torque request,
converting the obtained or generated wheel torque request to a wheel rotational speed request based on the corrected function, and
sending the wheel rotational speed request to an actuator for providing the rotational speed of the wheel corresponding to said wheel rotational speed request.