US 12,337,813 B2
Vehicle motion management with a redundant wheel control safety net function
Leo Laine, Härryda (SE); Leon Henderson, Härryda (SE); Johan Lindberg, Gothenburg (SE); Adithya Arikere, Gothenburg (SE); and Sidhant Ray, Gothenburg (SE)
Assigned to Volvo Truck Corporation, Gothenburg (SE)
Filed by Volvo Truck Corporation, Gothenburg (SE)
Filed on Aug. 31, 2021, as Appl. No. 17/462,280.
Claims priority of application No. 20193854 (EP), filed on Sep. 1, 2020.
Prior Publication US 2022/0063575 A1, Mar. 3, 2022
Int. Cl. B60T 8/1761 (2006.01); B60T 8/17 (2006.01); B60T 8/171 (2006.01); B60T 8/172 (2006.01); B60T 8/58 (2006.01)
CPC B60T 8/1761 (2013.01) [B60T 8/1708 (2013.01); B60T 8/171 (2013.01); B60T 8/172 (2013.01); B60T 8/58 (2013.01); B60T 2250/03 (2013.01); B60T 2270/413 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A motion support device (MSD) control circuit for a heavy duty vehicle, configured to control one or more motion support devices (MSDs) associated with at least one wheel on the vehicle, the MSD control circuit is configured to be communicatively coupled to a vehicle motion management (VMM) circuit for receiving control commands from the VMM circuit comprising target wheel speed and/or target wheel slip requests to control vehicle motion by the one or more MSDs, wherein each target wheel speed or target wheel slip request corresponds to translation by the VMM of a desired target tire force to an equivalent target wheel slip and the target wheel slip is related to a difference between the target wheel speed and a vehicle speed, the MSD control circuit is configured to:
obtain a capability range indicating a range of wheel behaviors of the wheel for which the VMM circuit is allowed to influence the behavior of the wheel by the control commands,
monitor wheel behavior and detect if wheel behavior is outside of the capability range, and
trigger a control intervention function if the monitored wheel behavior is outside of the capability range.