Wheel slip-based control for accelerating and decelerating heavy-duty vehicles

A control unit for controlling motion by a heavy-duty vehicle,

• wherein the vehicle is arranged to be controlled based on a target longitudinal wheel slip of at least one driven wheel on the vehicle, wherein the control unit comprises:
• processing circuitry;
• a network 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
• monitor a signed acceleration of the vehicle,
• monitor a signed current longitudinal wheel slip of the at least one driven wheel,
• reduce a magnitude of the target longitudinal wheel slip of the at least one driven wheel in case a magnitude of the monitored acceleration of the vehicle decreases while the magnitude of the monitored current longitudinal wheel slip is non-decreasing, and
• control wheel slip of the at least one driven wheel based on the target longitudinal wheel slip.