US 12,304,447 B2
Wheel slip based vehicle motion management for heavy duty vehicles
Leo Laine, Härryda (SE); Adithya Arikere, Gothenburg (SE); Sidhant Ray, Gothenburg (SE); Mattias Åsbogård, Mölnlycke (SE); and Leon Henderson, Härryda (SE)
Assigned to VOLVO TRUCK CORPORATION, Gothenburg (SE)
Filed by VOLVO TRUCK CORPORATION, Gothenburg (SE)
Filed on Oct. 11, 2021, as Appl. No. 17/450,518.
Claims priority of application No. 20203236 (EP), filed on Oct. 22, 2020.
Prior Publication US 2022/0126801 A1, Apr. 28, 2022
Int. Cl. B60T 8/172 (2006.01); B60T 8/17 (2006.01); B60T 8/171 (2006.01); B60T 8/175 (2006.01); B60T 8/1761 (2006.01); B60W 40/06 (2012.01); B60W 40/101 (2012.01)
CPC B60T 8/172 (2013.01) [B60T 8/1708 (2013.01); B60T 8/171 (2013.01); B60T 8/175 (2013.01); B60T 8/1761 (2013.01); B60T 8/17616 (2013.01); B60W 40/06 (2013.01); B60W 40/101 (2013.01); B60T 2210/12 (2013.01); B60T 2220/04 (2013.01); B60T 2240/00 (2013.01); B60T 2250/04 (2013.01); B60T 2270/86 (2013.01); B60W 2520/105 (2013.01); B60W 2520/26 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A control unit for controlling a heavy duty vehicle, wherein the control unit is arranged to obtain an acceleration profile and a curvature profile indicative of a desired maneuver by the heavy duty vehicle from one or more control devices of the heavy duty vehicle, the control unit comprising:
a force generation module configured to continuously determine at predetermined time intervals a set of global heavy duty vehicle forces and moments required to execute the desired maneuver based on the acceleration profile and the curvature profile;
a motion support device, (MSD), coordination module arranged to coordinate a plurality of MSDs to collectively provide the set of global heavy duty vehicle forces and moments by generating one or more respective wheel forces of each of a plurality of wheels of the heavy duty vehicle; and
an inverse tire model block configured to continuously map, at the predetermined time intervals, the one or more respective wheel forces of each of the plurality of wheels into equivalent wheel slips of each of the plurality of wheels, the equivalent wheel slips are proportional to a speed difference between a speed of each of the plurality of wheels and a speed of the vehicle relative to ground,
wherein the control unit is configured and arranged to use a wheel slip request on an interface towards the MSDs to maintain the wheel slips so as to maintain the speed of each of the plurality of wheels relative to speed of the vehicle relative to the ground to control the heavy duty vehicle during the desired maneuver.