Predictive energy and motion management for multitrailer heavy-duty vehicles

Abstract

A method is disclosed for controlling motion of a heavy-duty vehicle. Information is obtained related to an upcoming vehicle path and vehicle maneuver along the path; and related to a road friction coefficient along the path. Lateral and longitudinal wheel slip limits are configured for at least two wheels of an axle or lumped group-axle on the vehicle. The lateral and longitudinal wheel slip values are related to respective lateral and longitudinal tyre force values via a pre-determined combined tyre slip model. A vehicle motion profile is determined for performing the vehicle maneuver as a solution to a non-linear optimal control problem (NOCP). The NOCP is constrained by the lateral and longitudinal wheel slip limits and formulated to account for the road friction coefficient and/or curvature along the upcoming vehicle path. Motion of the vehicle is controlled along the path based on the determined target vehicle motion profile.

Dependencies are inferred from the claim text.