Abstract: A method for controlling motion of a heavy-duty vehicle includes obtaining input data related to one or more tire parameters of a tire on the heavy-duty vehicle, estimating at least part of the one or more tire parameters based on the input data, configuring a tire model, wherein the tire model defines a relationship between tire wheel rolling resistance and vehicle motion state, wherein the tire model is parameterized by the one or more tire parameters, estimating vehicle motion state, and controlling motion of the heavy-duty vehicle based on the tire model and on the vehicle motion state.

Abstract: A method for controlling motion of a heavy-duty vehicle, the method including: obtaining input data related to one or more parameters of a tire on the heavy-duty vehicle, determining at least part of the one or more tire parameters based on the input data, configuring a tire model, wherein the tire model defines a relationship between wheel slip and generated wheel force, wherein the tire model is parameterized by the one or more tire parameters, and controlling the motion of the heavy-duty vehicle based on the relationship between wheel slip and generated wheel force.

Abstract: A method for controlling motion of a heavy-duty vehicle includes estimating a current vehicle state comprising at least velocity and acceleration, wherein the estimated current state is associated with a current state uncertainty, estimating a future vehicle state based on the current vehicle state, and on a predictive motion model of the vehicle, wherein the future vehicle state is associated with a future vehicle state uncertainty, defining a vehicle control envelope representing an operational limit of the vehicle, wherein the vehicle control envelope defines a range of vehicle states, comparing the estimated future vehicle state, and the associated future vehicle state uncertainty, to the vehicle control envelope, and, if a probability that the future vehicle state breaches the control envelope is above a configured threshold value, limiting a motion capability of the vehicle.

Abstract: The present disclosure relates to a vehicle motion management system as well as an actuator control system of a vehicle. The vehicle motion management system and actuator control system are arranged to control operation of at least one actuator configured to apply a torque to at least one wheel of the vehicle. The vehicle motion management system is configured to transmit a control signal to the actuator control system, wherein the actuator control system is configured to, based on the control signal, generate an operating torque to be executed subject to the torque limit and the desired wheel speed.

Abstract: A system and to a method executed in a vehicle control unit for controlling wheel slip of a vehicle, wherein the vehicle comprises at least two wheels driven by at least primary actuator via an open differential. The primary actuator is controlled to rotate at a speed resulting in a slip ?em of the primary actuator. A signed wheel slip limit ?lim is determined by adding a configurable value to the slip ?em of the primary actuator, such that ?lim>?em. The at least two wheels are controlled to rotate at wheel speeds resulting in respective wheel slips ?l, ?r below the signed wheel slip limit ?lim, wherein each one of ?l, ?r and ?em are signed numerical values.

Abstract: A vehicle motion management (VMM) system for a heavy-duty vehicle, configured to obtain a desired wheel force value of a wheel of the vehicle; determine a torque limit for a first motion support device (MSD) associated with the wheel based on the desired wheel force value; determine a tire model based on a relationship between wheel force and wheel speed of the wheel; determine a desired wheel speed for the first MSD based on the tire model; and determine a torque fill request for a second MSD of the vehicle based on the desired wheel force and on a torque capability of the first MSD. The VMM system determines the torque fill request for the second MSD in dependence of the torque limit for the first MSD in case the operating torque of the first MSD is limited by the torque limit, and to determine the torque fill request for the second MSD in dependence of an applied torque status signal in case the operating torque of the first MSD is not limited by the torque limit.

Abstract: The present disclosure relates to a method for controlling at least one actuator of a vehicle, the actuator being configured to apply a torque on at least one wheel of the vehicle, wherein the applied torque is determined by a control function associated with a control bandwidth, the method comprising configuring the control function to control the applied torque to reduce a difference between a first parameter value related to a current rotational speed of the wheel and a second parameter value related to target rotational speed of the wheel; obtaining data indicative of a current operating condition of the vehicle; setting the control bandwidth of the control function in dependence of the current operating condition of the vehicle; and controlling the actuator using the control function.

Abstract: The present disclosure relates to a steerable wheel axle arrangement for a vehicle, the steerable wheel axle arrangement being connectable to a pair of wheels and comprising a steering linkage connectable to the pair of wheels; a cylinder comprising a fluidly controlled piston movable within the cylinder, wherein the fluidly controlled piston is connected to the steering linkage; and a fluidly controlled brake actuator adapted to be in fluid communication with a wheel brake of the vehicle for controlling braking of the wheels, wherein the fluidly controlled brake actuator is arranged in fluid communication with the cylinder, and wherein the fluidly controlled piston exerts a steering force on the steering linkage upon actuation of the fluidly controlled brake actuator for steering the wheels.

Abstract: A comprises a vehicle control unit, VCU, and a control module, CM, configured to control the torque actuators. The VCU is configured to send to the CM a parameter request and a desired recuperation power or a desired parameter split ratio. If the CM determines that these are conflicting targets, then based on one or more predefined criteria, the CM will apply a parameter value and allocate a recuperation power or a parameter split ratio such that the applied parameter value is different from the requested one and/or the allocated recuperation power or parameter split ratio is different from the desired one. A method of controlling a wheel is also disclosed.

Abstract: A system and to a method executed in a vehicle control unit for controlling wheel slip of a vehicle, wherein the vehicle comprises at least two wheels driven by at least primary actuator via an open differential. The primary actuator is controlled to rotate at a speed resulting in a slip ?em of the primary actuator. A signed wheel slip limit ?lim is determined by adding a configurable value to the slip ?em of the primary actuator, such that ?lim>?em. The at least two wheels are controlled to rotate at wheel speeds resulting in respective wheel slips ?l, ?r below the signed wheel slip limit ?lim, wherein each one of ?l, ?r and ?em are signed numerical values.

Abstract: The present disclosure relates to a vehicle motion management system as well as an actuator control system of a vehicle. The vehicle motion management system and actuator control system are arranged to control operation of at least one actuator configured to apply a torque to at least one wheel of the vehicle. The vehicle motion management system is configured to transmit a control signal to the actuator control system, wherein the actuator control system is configured to, based on the control signal, generate an operating torque to be executed subject to the torque limit and the desired wheel speed.

Abstract: A method for controlling wheel slip of a vehicle. The vehicle comprises at least a first and a second motion support device, MSD, for providing torque to a common wheel of the vehicle. The method comprises receiving a wheel torque request. Based on the received wheel torque request, the method further comprises controlling the first MSD to provide torque to the wheel in a first mode of operation, and controlling the second MSD to provide torque to the wheel in a second mode of operation which is different from the first mode of operation. The controlling of the first MSD and the controlling of the second MSD are, at least temporarily, performed simultaneously.

Abstract: The invention relates to a control unit for controlling torque applied to a vehicle wheel provided with a tyre, wherein the control unit comprises or is operatively connected to a data storage, which data storage has a stored tyre model for the tyre, wherein, in the tyre model, longitudinal tyre force is represented as at least a function of longitudinal wheel slip, longitudinal wheel slip being dependent on rotational speed of the wheel and velocity of the vehicle. The control unit is configured to correct said function based on a tyre parameter input and to convert a wheel torque request to a wheel rotational speed request based on the corrected function, and to send the wheel rotational speed request to an actuator for providing a rotational speed of the wheel corresponding to said wheel rotational speed request. The invention also relates to a method and to a kit.

Abstract: The present disclosure relates to a method for controlling at least one actuator of a vehicle, the actuator being configured to apply a torque on at least one wheel of the vehicle, wherein the applied torque is determined by a control function associated with a control bandwidth, the method comprising configuring the control function to control the applied torque to reduce a difference between a first parameter value related to a current rotational speed of the wheel and a second parameter value related to target rotational speed of the wheel; obtaining data indicative of a current operating condition of the vehicle; setting the control bandwidth of the control function in dependence of the current operating condition of the vehicle; and controlling the actuator using the control function.

Abstract: The present disclosure relates to a vehicle motion management system as well as a motion support system for a vehicle. The vehicle motion management system and the motion support system are arranged to control operation of at least one actuator configured to apply a torque to at least one wheel of the vehicle. The vehicle motion management system is configured to transmit a control signal indicative of a desired torque and a wheel speed limit to the motion support system, whereby the motion support system is, based on the received signal, configured to transmit an actuator signal to the actuator for the actuator to generate an operating torque on the at least one wheel without exceeding an actuator rotational speed limit.

Abstract: A control unit (130, 140, 300) for controlling a heavy duty vehicle (100), wherein the control unit is arranged to obtain an acceleration profile (areq) and a curvature profile (creq) indicative of a desired maneuver by the vehicle (100), the control unit (130, 140, 300) comprising a force generation module (310) configured to determine a set of global vehicle forces and moments required to execute the desired maneuver, the control unit (130, 140, 300) further comprising a motion support device, MSD, coordination module (320) arranged to coordinate one or more MSDs to collectively provide the global vehicle forces and moments by generating one or more respective wheel forces, and an inverse tyre model (330) configured to map the one or more wheel forces into equivalent wheel slips (?), wherein the control unit (130, 140, 300) is arranged to request the wheel slips (?) from the MSDs.

Abstract: 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.

Abstract: A motion support device, MSD, control unit for a heavy duty vehicle, configured to control one or more MSDs associated with a wheel on the vehicle, wherein the MSD control unit is configured to be communicatively coupled to a vehicle motion management, VMM, unit for receiving control commands from the VMM unit comprising wheel speed and/or wheel slip requests to control vehicle motion by the one or more MSDs. The MSD control unit is configured to obtain a capability range indicating a range of wheel behaviors of the wheel for which the VMM unit is allowed to influence the behavior of the wheel by the control commands, monitor wheel behavior and to detect if wheel behavior is outside of the capability range, and trigger a control intervention function in case the monitored wheel behavior is outside of the capability range.