US 12,441,292 B2
Method of controlling operation of a vehicle, computer program, computer-readable medium, control arrangement, and vehicle
Jonathan Adolfsson, Bandhagen (SE); Anders Kjell, Ekerö (SE); Christian Wessel, Rönninge (SE); and David Elfvik, Älvsjö (SE)
Assigned to Scania CV AB, Södertälje (SE)
Filed by Scania CV AB, Södertälje (SE)
Filed on Apr. 17, 2024, as Appl. No. 18/637,777.
Claims priority of application No. 2350485-5 (SE), filed on Apr. 24, 2023.
Prior Publication US 2024/0351569 A1, Oct. 24, 2024
Int. Cl. B60W 10/14 (2012.01); B60W 10/184 (2012.01); B60W 40/068 (2012.01)
CPC B60W 10/14 (2013.01) [B60W 10/184 (2013.01); B60W 40/068 (2013.01); B60W 2300/125 (2013.01); B60W 2520/10 (2013.01); B60W 2520/263 (2013.01); B60W 2520/30 (2013.01); B60W 2552/40 (2020.02)] 19 Claims
OG exemplary drawing
 
1. A method of controlling operation of a vehicle, wherein the method is performed by a control arrangement, and wherein the vehicle comprises two or more wheel axles and a number of wheels arranged at each of the two or more wheel axles, wherein the method comprises, when the vehicle is moving in a movement direction relative to a surface supporting the vehicle such that at least one of the two or more wheel axles constitutes a leading wheel axle and at least one of the two or more wheel axles constitutes a trailing wheel axle as seen relative to the movement direction:
monitoring a wheel slip of the wheels arranged at the at least one leading wheel axle; and
controlling a wheel torque of the wheels arranged at the at least one trailing wheel axle based on: (i) the monitored wheel slip, (ii) a speed of the vehicle relative to the surface, and (iii) distance between the at least one leading wheel axle and the at least one trailing wheel axle, and wherein controlling the wheel torque of the wheels arranged at the at least one trailing wheel axle further comprises:
using a time delay from the monitored wheel slip of the wheels arranged at the at least one leading wheel axle, wherein a duration of the time delay is set based on a ratio between the distance between the at least one leading wheel axle and the at least one trailing wheel axle and the speed of the vehicle relative to the surface.