Volvo Truck Corporation

Timothy Gordon

Leon Henderson

Yangyan Gao

Shammi Rahman

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 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.

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Lincoln, United Kingdom

Timothy Gordon