Vehicle motion management based on torque request with speed limit

A motion support system for a vehicle, the motion support system being connectable to a vehicle motion management system and to at least one actuator configured to apply a torque to at least one wheel of the vehicle, wherein the motion support system is configured to:

• receive a control signal from the vehicle motion management system, the control signal being indicative of a desired torque for operating the vehicle at a current vehicle operating condition, and indicative of a wheel speed limit for the at least one wheel of the vehicle, the wheel speed limit being based at least on a wheel slip limit and the desired torque;
• determine a current vehicle driveline state for the vehicle;
• determine, based on the current vehicle driveline state, the desired torque and the wheel speed limit, an operating torque and an actuator rotational speed limit;
• and
• transmit an actuator signal to the actuator for the actuator to generate the operating torque, on the at least one wheel without exceeding the actuator rotational speed limit and a rotational acceleration limit.

A method for controlling an actuator of a vehicle, the actuator being configured to apply a torque on at least one wheel of the vehicle, wherein the method comprises:

• determining a desired torque for operating the vehicle at a current vehicle operating condition;
• determining a wheel slip limit for the at least one wheel of the vehicle;
• determining, based at least on the wheel slip limit and the desired torque, a wheel speed limit for the at least one wheel of the vehicle;
• determining an operating torque and an actuator rotational speed limit based on the desired torque, the wheel speed limit and a current vehicle driveline state;
• and
• controlling the actuator to generate the operating torque, on the at least one wheel without exceeding the actuator rotational speed limit and a rotational acceleration limit.