Volvo Truck Corporation

Leon Henderson

Leo Laine

Adithya Arikere

Sidhant Ray

Kristoffer Tagesson

Mats Jonasson

Mats Rydström

Ramachandran Sandrasekaran

Chidambaram Subramanian

Mattias Åsbogård

Johan Lindberg

Christian Oscarsson

José Vilca

Ray Sidhant

Yangyan Gao

Timothy Gordon

Lionel Farres

Ramadan Salif

Thorsten Helfrich

Shammi Rahman

Johanna Majqvist

Mats Sabelström

Jan-Inge Svensson

Ulf Stenbratt

Peter Nilsson

Anders Vikström

Karthik Ramanan Vaidyanathan

Niklas Fröjd

Axel Ceder

Björn Källstrand

Peter Hansson

Jonathan Olsson

Carl-Johan Rundqvist

Patrick Volz

Nicolas Soulier

Nikhil Baliga

Hans-Martin Heyn

Jakub Prokes

Björn KÄLLSTRAND

A method for controlling a vehicle brake system of a heavy duty vehicle, the brake system comprising a service brake system and an electrical machine brake system. The method includes determining a total brake torque request for braking a wheel of the vehicle, obtaining a brake torque capability of the electrical machine, determining if the total brake torque request exceeds the brake torque capability of the electrical machine, and if the total brake torque request exceeds the brake torque capability of the electrical machine but is below a threshold level, applying a baseline brake torque by the service brake system, wherein the baseline brake torque is configured to compensate for a difference between total brake torque request and brake torque capability of the electrical machine, and controlling wheel slip by the electrical machine brake system.

Method for controlling a vehicle brake system

A control unit for controlling at least one torque generating MSD on a heavy-duty vehicle. The control unit receives a motion request indicative of a desired positive longitudinal tire force to be generated by the torque generating MSD, obtains an estimated applied torque indicative of a current torque generated by the torque generating MSD, determines a target wheel speed based on the motion request and on the estimated applied torque, and configures the torque generating MSD to maintain the target wheel speed. The control unit is arranged to decrease the target wheel speed in case an increase in configured wheel speed results in a decrease in the estimated applied torque.

Robust actuator control methods for heavy-duty vehicle motion management

A method for controlling a heavy-duty vehicle to follow a reference path (P), the method comprising obtaining the reference path (P) to be followed by the vehicle, determining a goal point (G) along the path (P) to be used as a steering reference from a vehicle location (x) in vicinity of the path (P), where the goal point (G) is distanced along the path (P) by a preview distance (Dp) measured from a reference location (x, G) associated with the vehicle location (x), where the preview distance (Dp) is determined at least partly based on a lateral deviation (y) of the vehicle location (x) from the reference path (P), such that the preview distance (Dp) increases with an increasing lateral deviation (y) from the reference path (P), and decreases with a decreasing lateral deviation (y), and controlling the vehicle on the basis of the goal point (G).

Adaptive path following algorithm for heavy-duty vehicles

A road friction coefficient of a vehicle is estimated by obtaining substantially contemporaneous values associated with a steering angle for a steered axle of the vehicle, a lateral acceleration, a yaw acceleration, an alignment torque and an axle load on the steered axle; estimating a lateral tire force on the basis of the steering angle, lateral acceleration, and yaw acceleration; deriving a pneumatic trail from the alignment torque and estimated lateral tyre force; and estimating a road friction coefficient from the lateral tire force, the axle load, and the pneumatic trail. In embodiments, the derivation of the road friction coefficient includes evaluating a nonlinear function of the pneumatic trail.

On-board road friction estimation

A method for automatically verifying a coupling between a tractor and a first trailer unit, the method comprising engaging a wheel brake on the first trailer unit, generating a propulsion torque by the tractor, determining a first coupling force between the tractor and the first trailer unit, and verifying the coupling between the tractor and the first trailer unit based on the determined first coupling force.

Automatic pull tests for articulated vehicles

A method for determining a slip limit value for a wheel of a vehicle. The slip limit value is used for controlling the operation of the vehicle. The method comprises setting the slip limit value to be smaller than a high slip limit value for a majority of an operating time of the vehicle. The method also determines whether or not the vehicle assumes an infrequent manoeuvre condition in which the vehicle carries out an infrequent manoeuvre and/or or is predicted to carry out an infrequent manoeuvre within a predetermined time range, and in response to determining that the vehicle assumes the infrequent manoeuvre condition, setting the slip limit value to the high slip limit value.

Method for determining a slip limit value for a wheel of a vehicle

A method for setting a heavy duty vehicle in motion. The method includes obtaining a motion instruction for setting the vehicle in motion, determining a target wheel slip value corresponding to a wheel slip suitable for executing to the motion instruction, and controlling wheel speed to maintain wheel slip of the vehicle at the target wheel slip value.

Methods for setting a heavy duty vehicle in motion

A method for controlling a heavy-duty vehicle to follow a reference path (P), comprising determining a goal point along the reference path to be used as a steering reference from a vehicle location in vicinity of the path, where the goal point is distanced along the path by a preview distance measured from a reference location associated with the vehicle location, determining a direction wof a first flow field associated with the reference path, determining whether a lateral deviation of the vehicle location from the reference path exceeds a threshold lateral deviation, and controlling the vehicle in accordance with the direction wof a first flow field if the lateral deviation exceeds the threshold lateral deviation, and otherwise controlling the vehicle in accordance with the direction wof a pipe flow substantially parallel to the reference path or in accordance with an optimization-based path.

A computer-implemented method performed in a vehicle control unit for controlling motion of a heavy-duty vehicle. The method includes obtaining a vehicle motion request, wherein the vehicle motion request is indicative of a target curvature and a target acceleration, determining a motion support device, MSD, control allocation based on the vehicle motion request, determining a dynamic wheel slip angle limit based on the vehicle motion request, where dynamic wheel slip angle limit increases with a decreasing target acceleration, and controlling the motion of the heavy-duty vehicle based on the MSD control allocation constrained by the dynamic wheel slip angle limit.

Vehicle control based on a dynamically configured sideslip limit

A vehicle motion management (VMM) system for a heavy-duty vehicle, configured to obtain a desired wheel force value of a wheel of the vehicle; determine a torque limit for a first motion support device (MSD) associated with the wheel based on the desired wheel force value; determine a tire model based on a relationship between wheel force and wheel speed of the wheel; determine a desired wheel speed for the first MSD based on the tire model; and determine a torque fill request for a second MSD of the vehicle based on the desired wheel force and on a torque capability of the first MSD. The VMM system determines the torque fill request for the second MSD in dependence of the torque limit for the first MSD in case the operating torque of the first MSD is limited by the torque limit, and to determine the torque fill request for the second MSD in dependence of an applied torque status signal in case the operating torque of the first MSD is not limited by the torque limit.

Vehicle motion management system and motion support device control system

A motion support device, MSD, control unit for a heavy duty vehicle, configured to control one or more MSDs associated with a wheel on the vehicle, wherein the MSD control unit is configured to be communicatively coupled to a vehicle motion management, VMM, unit for receiving control commands from the VMM unit comprising wheel speed and/or wheel slip requests to control vehicle motion by the one or more MSDs. The MSD control unit is configured to obtain a capability range indicating a range of wheel behaviors of the wheel for which the VMM unit is allowed to influence the behavior of the wheel by the control commands, monitor wheel behavior and to detect if wheel behavior is outside of the capability range, and trigger a control intervention function in case the monitored wheel behavior is outside of the capability range.

Vehicle motion management with a redundant wheel control safety net function

The present disclosure relates to a vehicle motion management system as well as a motion support system for a vehicle. The vehicle motion management system and the motion support system are arranged to control operation of at least one actuator configured to apply a torque to at least one wheel of the vehicle. The vehicle motion management system is configured to transmit a control signal indicative of a desired torque and a wheel speed limit to the motion support system, whereby the motion support system is, based on the received signal, configured to transmit an actuator signal to the actuator for the actuator to generate an operating torque on the at least one wheel without exceeding an actuator rotational speed limit.

Vehicle motion management system and a motion support system for a vehicle

A control unit () for controlling a heavy duty vehicle (),

Wheel slip based vehicle motion management for heavy duty vehicles

The invention relates to a control unit for controlling torque applied to a vehicle wheel provided with a tyre, wherein the control unit comprises or is operatively connected to a data storage, which data storage has a stored tyre model for the tyre, wherein, in the tyre model, longitudinal tyre force is represented as at least a function of longitudinal wheel slip, longitudinal wheel slip being dependent on rotational speed of the wheel and velocity of the vehicle. The control unit is configured to correct said function based on a tyre parameter input and to convert a wheel torque request to a wheel rotational speed request based on the corrected function, and to send the wheel rotational speed request to an actuator for providing a rotational speed of the wheel corresponding to said wheel rotational speed request. The invention also relates to a method and to a kit.

Control unit and a method for controlling a wheel on a vehicle

A method for determining a mass property of a land-based vehicle for cargo transport. The method comprises registering one or more properties of a cargo unit entering the vehicle, wherein at least one of the properties is related to a mass of the cargo unit, estimating a location of the cargo unit in the vehicle, and determining at least one vehicle mass property of the vehicle based on the one or more registered properties and on the estimated location of the cargo unit.

Growing community of inventors

Gothenburg, Sweden

Leon Henderson