US 12,330,653 B2
Method for validating a model associated with vehicle dynamics
Leo Laine, Härryda (SE); Emil Klintberg, Torslanda (SE); and Peter Nilsson, Hovås (SE)
Assigned to VOLVO TRUCK CORPORATION, Gothenburg (SE)
Appl. No. 17/596,295
Filed by VOLVO TRUCK CORPORATION, Gothenburg (SE)
PCT Filed Jun. 14, 2019, PCT No. PCT/EP2019/065739
§ 371(c)(1), (2) Date Dec. 7, 2021,
PCT Pub. No. WO2020/249239, PCT Pub. Date Dec. 17, 2020.
Prior Publication US 2022/0306117 A1, Sep. 29, 2022
Int. Cl. B60W 30/18 (2012.01); B60T 8/172 (2006.01); B60T 8/1755 (2006.01); B60W 10/04 (2006.01); B60W 10/184 (2012.01)
CPC B60W 30/18172 (2013.01) [B60T 8/1725 (2013.01); B60T 8/17551 (2013.01); B60W 10/04 (2013.01); B60W 10/184 (2013.01); B60T 2240/06 (2013.01); B60T 2270/86 (2013.01); B60W 2520/10 (2013.01); B60W 2520/263 (2013.01); B60W 2520/266 (2013.01); B60W 2552/40 (2020.02)] 17 Claims
OG exemplary drawing
 
1. A computer implemented method for validating a model of vehicle dynamics for use in autonomous driving, the method comprising:
determining a maximum wheel slip limit;
setting a wheel slip limit on an operation of at least one vehicle torque device based on the maximum wheel slip limit;
obtaining a model associated with vehicle dynamics, the model of vehicle dynamics being a model representing a relationship between a lateral tire force acting on a vehicle and a wheel slip value, with the wheel slip value being restricted within the wheel slip limit;
validating the model of vehicle dynamics based on the set wheel slip limit; and controlling the at least one vehicle torque device based on the set wheel slip limit, wherein the wheel slip limit comprises a limit on a longitudinal tire slip, sx, given by sx=

OG Complex Work Unit Math
where R denotes a radius of a wheel tire, ω denotes an angular velocity of the wheel tire and vx denotes a longitudinal speed of the tire, wherein the wheel slip limit comprises a limit on a lateral tire slip, Syt, given by where vy denotes a tire translational velocity, R denotes a radius of a wheel tire, and ω denotes an angular velocity of the wheel tire.