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AssigneeVolvo Truck Corporation
InventorsAdithya Arikere, Niklas Fröjd, Leon Henderson, Sidhant Ray, Leo Laine, Mats Rydström
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A control unit (130, 140) for controlling a heavy duty vehicle (100), wherein the control unit is arranged to obtain input data indicative of a desired wheel force (Fx, Fy) to be generated by at least one wheel (210) of the vehicle (100), and to translate the input data into a respective equivalent wheel speed or wheel slip to be maintained by the wheel (210) to generate the desired wheel force (Fx, Fy) based on an inverse tyre model (f−1) for the wheel (210), wherein the control unit (130, 140) is arranged to obtain the inverse tyre model in dependence of a current operating condition of the wheel (210), and wherein the control unit (130, 140) is arranged to control the heavy duty vehicle (100) based on the equivalent wheel speed or wheel slip.
A control unit for controlling a vehicle, wherein the control unit is arranged to obtain input data indicative of a desired wheel force to be generated by at least one wheel of the vehicle, and to translate the input data into a respective equivalent wheel speed or wheel slip to be maintained by the wheel to generate the desired wheel force based on an inverse tire model for the wheel, wherein the equivalent wheel speed or wheel slip corresponds to the desired wheel force such that the equivalent wheel slip is configured to produce the desired wheel force and the equivalent wheel slip is related to a difference between the equivalent wheel speed and a speed over ground, wherein the control unit is arranged to obtain the inverse tire model in dependence of a current operating condition of the wheel, and wherein the control unit is arranged to control the vehicle based on the equivalent wheel speed or wheel slip, and wherein controlling the vehicle based on the equivalent wheel speed or wheel slip comprises sending a request for the equivalent wheel speed or wheel slip to a motion support device controller.
A method performed in a control unit for controlling a vehicle, the method comprising obtaining input data indicative of a desired wheel force to be generated by at least one wheel of the vehicle, obtaining an inverse tire model associated with the wheel, wherein the inverse tire model in dependence of a current operating condition of the wheel, and translating the input data into a respective equivalent wheel speed or wheel slip to be maintained by the wheel to generate the desired wheel force based on an inverse tire model for the wheel, wherein the equivalent wheel speed or wheel slip corresponds to the desired wheel force such that the equivalent wheel slip is configured to produce the desired wheel force and the equivalent wheel slip is related to a difference between the equivalent wheel speed and a speed over ground, and controlling the vehicle based on the equivalent wheel speed or wheel slip, wherein controlling the vehicle based on the equivalent wheel speed or wheel slip comprises sending a request for the equivalent wheel speed or wheel slip to a motion support device controller.
Dependencies are inferred from the claim text.