Electrical wheel module for acceleration and braking of a heavy-duty vehicle

A method for decelerating a heavy-duty vehicle, performed by an electronic control unit, ECU, comprised in a wheel module, the wheel module also comprising at least one electric machine arranged for regenerative braking, an eddy current braking device, a communications port arranged for communication with an external control unit, and a power distribution network arranged to connect the electric machine to the eddy current braking device and to a power port arranged to input and to output electrical power to and from the wheel module, the method comprising obtaining a deceleration request from the external control unit indicative of a desired braking torque, wherein the deceleration request comprises a wheel slip or wheel speed request,

• obtaining configuration data via the communications port indicative of a maximum output power of the power port,
• applying braking torque by any of the electric machine and the eddy current braking device, controlling the electric machine and the eddy current braking device to provide a desired wheel slip level in response to the wheel slip or wheel speed request, and
• controlling the power distribution network to maintain the output power of the power port below the maximum output power by distributing power from the at least one electric machine between the eddy current braking device and the power port.