Abstract: A computer system has processing circuitry configured to handle a longitudinal slip of a wheel of a vehicle is provided. The processing circuitry is configured to, determine a first longitudinal slip and a first tire force of a tire of the wheel. The processing circuitry is configured to, with respect to a torque needed to provide the first tire force, control a torque applied to the wheel to attain a second tire force, the second tire force being lower than the first tire force with respect to a predefined relationship. The processing circuitry is configured to determine a second longitudinal slip associated with the second tire force. The processing circuitry is configured to, based on the second longitudinal slip, determine a slip or slip interval for controlling the longitudinal slip of the wheel.

Abstract: A computer system has processing circuitry to provide, in response to an indication that, for a vehicle combination comprising a tractor having a front axle, a first rear axle, and a second rear axle longitudinally further away from the front axle than the first rear axle is, and a trailer coupled to the tractor with a fifth-wheel coupling, a risk of jack-knifing is higher than a predefined threshold risk, an instruction to operate at least one actuator comprised in the tractor to redistribute a total axle load of the tractor in such a way that a first rear axle load on the first rear axle of the tractor is decreased and a second rear axle load on the second rear axle of the tractor is increased.

Abstract: A computer-implemented method for controls stability of a vehicle, being a truck or tractor and at least one trailer comprising at least two wheel axles and an electronically controllable suspension system. The method identifies a possible instability state of the vehicle; determines a type of an event that has caused the possible instability state; determining one or more actions comprising adjusting a load distribution between the at least two wheel axles of the trailer based on the possible instability state and based on the type of the event that has caused the possible instability state; and generates and sending a control command to the suspension system to perform the actions. The actions may comprise adjusting the load distribution between the at least two wheel axles of the trailer such that a load on a rear axle is increased and a load on a front axle is decreased.

Abstract: A vehicle has a towing unit and one or more towed units extending along a longitudinal axis. The vehicle is arranged with components associated with respective stiffness values affecting lateral forces applied to the vehicle as the vehicle is moving laterally. The vehicle is configured such that the components are arranged along the longitudinal axis to have increasing stiffness values towards a rear of the vehicle and/or a rear of the respective one or more towed units.

Abstract: A computer system comprising processing circuitry configured to: receive, from an autonomous drive control system, an acceleration request encoding a desired acceleration of an autonomous vehicle having a propulsion source arrangement configured to drive at least one wheel of the autonomous vehicle via a transmission including a plurality of gear-stages; and control the propulsion source arrangement in such a way that the autonomous vehicle accelerates with a greater acceleration than the desired acceleration during at least one acceleration loss compensation time period being separate from at least one gear-shift time period of at least one gear-shift required to fulfill the acceleration request.

Abstract: A computer system select a vehicle controller for use in control of a vehicle. The computer system has processing circuitry to acquire a plurality of input values for each of one or more input variables for simulating performance of the vehicle, wherein the plurality of input values represent an uncertainty in the respective input variable, simulate performance of the vehicle for each of a plurality of vehicle controllers, wherein a respective simulation is performed for each vehicle controller for each of a plurality of combinations of input values, determine a total cost for each vehicle controller based on the plurality of simulations performed for the respective vehicle controller, and select a vehicle controller from the plurality of vehicle controllers based on the determined costs.

Abstract: A computer-implemented method for switching between a first controller and a second controller for a vehicle includes in a first operation stage, controlling an operational parameter of at least one MSD of the vehicle using the first controller, thereby providing a first tire force at at least one tire associated with the MSD, determining a second tire force for the at least one tire based on a vehicle model associated with the second controller, in a second operation stage, controlling the operational parameter of the at least one MSD using a third controller, comprising determining an intermediate value for the operational parameter based on the first and second tire forces, and in a third operation stage, controlling the operational parameter of the at least one MSD using the second controller, thereby providing the second tire force at the at least one tire.