Vehicle control based on dynamically configured longitudinal wheel slip limits

A control unit, comprising:

• processing circuitry;
• an interface coupled to the processing circuitry;
• and
• a memory coupled to the processing circuitry, wherein the memory comprises machine readable computer program instructions that, when executed by the processing circuitry, causes the control unit to perform operations of:
• 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 longitudinal wheel slip limit based on the vehicle motion request and separately from the MSD control allocation, where the dynamic longitudinal wheel slip limit increases with a decreasing target curvature, and where the dynamic longitudinal wheel slip limit is determined by minimizing local Hamiltonian functions at one or more wheels;
• and
• controlling the motion of the heavy-duty vehicle based on the MSD control allocation constrained by the dynamic longitudinal wheel slip limit.