Abstract: A method for controlling motion of a heavy-duty vehicle, comprising obtaining information related to an upcoming vehicle path and vehicle maneuver along the path, obtaining information related to a road friction coefficient along the upcoming vehicle path, configuring lateral and longitudinal wheel slip limits for at least two wheels of an axle or lumped group-axle on the heavy-duty vehicle, wherein lateral and longitudinal wheel slip values are related to respective lateral and longitudinal tire force values via a pre-determined combined tire slip model, determining a vehicle motion profile for performing the vehicle maneuver along the path as a solution to a non-linear optimal control problem, NOCP, wherein 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, and controlling the motion of the heavy-duty vehicle along the path based on the determined target vehicle motion profile

Abstract: A method for reducing off-tracking by a multi-trailer heavy duty vehicle during a maneuver, the method comprising obtaining a model of vehicle dynamics describing dynamics of the multi-trailer heavy duty vehicle, determining respective force trajectories for two or more axles of the vehicle as a solution to a non-linear optimal control problem, NOCP, where the NOCP is formulated with an objective to at least minimize trailer off-tracking, wherein the NOCP is formulated based on the model of vehicle dynamics, and controlling motion of the heavy duty vehicle during the maneuver based on the determined force trajectories.

Abstract: The disclosure relates to a method to control torque distribution among a plurality of electric machines connected to at least one front wheel and at least one rear wheel of a vehicle during operation, comprising: acquiring the total torque requested; obtaining the most energy efficient torque distribution mode by using a loss model or loss map; evaluating the actual driving situation; determining if a mode switch is allowed depending on the actual driving situation; switching the torque distribution mode, if allowed; and preventing a mode switch, if not allowed.

Abstract: A method for determining a tyre normal force range (Fz,min, Fz,max) of a tyre force (Fz) acting on a vehicle (100), the method comprising; obtaining (S1) suspension data (310) associated with a suspension system of the vehicle (100); obtaining (S2) inertial measurement unit, IMU, data (320) associated with the vehicle (100); estimating (S3), by a suspension-based estimator (330) a first tyre normal force range (Fz1,min, Fz1,max) based on the suspension data (310); estimating (S4), by an inertial force-based estimator (340), a second tyre normal force range (Fz2,min, Fz2,max)based on the IMU data (320); and determining (S5) the tyre normal force range (Fz,min, Fz,max) based on the first tyre normal force range (Fz1,min, Fz2max) and on the second tyre normal force range (Fz2,min, Fz2,max).

Abstract: The disclosure relates to a method to control torque distribution among a plurality of electric machines connected to at least one front wheel and at least one rear wheel of a vehicle during operation, comprising: acquiring the total torque requested; obtaining the most energy efficient torque distribution mode by using a loss model or loss map; evaluating the actual driving situation; determining if a mode switch is allowed depending on the actual driving situation; switching the torque distribution mode, if allowed; and preventing a mode switch, if not allowed.

Abstract: A device and a method for reducing polarization-dependent effects in dynamical optical components based on surface modulation of a polymer gel or membrane is disclosed. The device and method modifies, removes or leads away unwanted reflections from incident light or information carrier communicating with said optical component.

Abstract: A device and a method for reducing polarization-dependent effects in dynamical optical components based on surface modulation of a polymer gel or membrane is disclosed. The device and method modifies, removes or leads away unwanted reflections from incident light or information carrier communicating with said optical component.

Abstract: The invention relates to a method for reducing a risk of or avoiding a roll-over event of a vehicle, having means of an electronic controllable steering system and an electronic control unit. The electronic control unit identifies the occurrence of the roll-over risk, such that control means generate a signal in order to steer the road wheels more into the direction in which the vehicle is tending to roll-over.

Abstract: A device and a method for reducing polarization-dependent effects in dynamical optical components based on surface modulation of a polymer gel or membrane is disclosed. The device and method modifies, removes or leads away unwanted reflections from incident light or information carrier communicating with said optical component.

Abstract: A variable optical modulator for optical communication systems using a tunable dynamic grating comprises a gel or membrane layer attached adjacent to a prism communicating light to/from the optical communication system. A substrate has a plurality of individually addressable electrodes and drive means for providing regulated excitation voltage to each of the plurality of electrodes, thereby generating a wave pattern on a surface of the gel or membrane superimposed on an initial state of the gel or membrane layer.

Abstract: A variable optical modulator for optical communication systems using a tunable dynamic grating comprises a gel or membrane layer attached adjacent to a prism communicating light to/from the optical communication system. A substrate has a plurality of individually addressable electrodes and drive means for providing regulated excitation voltage to each of the plurality of electrodes, thereby generating a wave pattern on a surface of the gel or membrane superimposed on an initial state of the gel or membrane layer.