Volvo Truck Corporation

Karthik Ramanan Vaidyanathan

Leo Laine

Leon Henderson

Lionel Farres

Kristoffer Tagesson

Christian Oscarsson

José Vilca

Johanna Majqvist

Nicolas Soulier

A method for having a vehicle follow a desired curvature path is provided. The vehicle has at least one differential with a differential lock connected to at least one driven wheel axle of the vehicle. The method includes providing information regarding state of the differential lock, the state being either that the differential lock is activated or unlocked, and when the differential lock is activated, calculating a yaw moment of the vehicle caused by the differential lock; and compensating for a deviation from the desired curvature path caused by the yaw moment such that a resulting steering angle is equal to or less than a maximum allowed steering angle of the vehicle. The compensation is a feed forward compensation.

Method for having a vehicle follow a desired curvature path

A control arrangement for a vehicle motion system including a braking function, comprising motion actuators with one or more brake actuators pertaining to the braking function, a first vehicle motion management controller (VMM) and a second vehicle motion management controller (VMM), forming a redundant assembly to control the braking function, wherein, in riding conditions, the first vehicle motion management controller controls the brake actuators with a current nominal expected braking performance, while the second vehicle motion management controller (VMM) is in a waiting-to-operate mode, the control arrangement comprising a hot swap functionality in which the second vehicle motion management controller (VMM) is configured to take over control of the brake actuators from the first vehicle motion management controller, with the current nominal expected braking performance, in a short time period (SWT) less than one second, preferably less than 0.5 second, preferably less than 0.3 second, and associated control method.

Redundant motion control for a vehicle with a redundant braking arrangement

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Hisings Backa, Sweden

Karthik Ramanan Vaidyanathan