Abstract: A method for determining a tractor longitudinal force threshold value for a tractor longitudinal retardation force that can be imparted on a tractor of a vehicle combination including the tractor and a trailer for retarding the vehicle combination, the tractor including a set of tractor wheels adapted to engage the ground supporting the tractor, each wheel of the set of set of tractor wheels including a tire, the method including: determining a tractor lateral force value, determining a tractor tire lateral force limit value using a tire model for determining a tire lateral force limit; determining a reference lateral force value using said tractor lateral force value and the tractor tire lateral force limit value; determining a horizontal friction force value, and determining the tractor longitudinal force threshold value.

Abstract: The present disclosure relates to a method for determining a tractor longitudinal force threshold ( F L TR ret , threshold ) for a tractor longitudinal retardation force ( F L TR ret ) that can be imparted on a tractor of a vehicle combination including the tractor and a trailer for retarding the vehicle combination. The trailer has a trailer longitudinal extension in a trailer longitudinal direction (LTL), a trailer lateral extension in a trailer lateral direction (TTL) and a trailer vertical extension in a trailer vertical direction (VTL), and the tractor has a tractor longitudinal extension in a tractor longitudinal direction (LTR), a tractor lateral extension in a tractor lateral direction (TTR) and a tractor vertical extension in a tractor vertical direction (VTR ), wherein the tractor longitudinal retardation force ( F L TR ret ) extends in a direction parallel to a tractor longitudinal direction (TTR).

Abstract: A method of distributed control allocation in a vehicle combination including multiple vehicle units is provided, in which a master control allocator solves a combination-specific control allocation problem to perform control allocation on a combination level, and each of a plurality of slave control allocators receives unit-specific virtual control inputs from the master control allocator and then performs control allocation on vehicle unit level to control actuators of an associated vehicle unit. A method performed in a master control allocator, a method performed in a slave control allocator, a distributed control allocation system, a master control allocator, a slave control allocator, a vehicle combination, a vehicle unit, and computer programs and computer program products are also provided.

Abstract: A method of determining actuator brake torque limits for a plurality of actuators, wherein each actuator is operable to apply a brake torque on a wheel of a vehicle, the method comprising determining, for each actuator, an actuator brake torque capability range based on an actuator specific torque capacity and a current operational state of the actuator; determining, for each wheel of the vehicle, a road condition brake torque capability range based on an estimated lateral wheel force acting on the wheel, an estimated friction between a tire surface of the wheel and a road surface, and a vertical wheel force acting on the wheel; and determining, for each actuator, an upper actuator brake torque limit and a lower actuator brake torque limit based on the actuator brake torque capability range and the road condition brake torque capability range.

Abstract: A computer-implement method of predicting a drag area (as function of air-attack angle) of a vehicle combination after hypothetically changing an exterior shape of the vehicle combination from a first exterior shape to a second exterior shape is provided. The method includes obtaining a first drag area function, obtaining a first projected area function, obtaining a second projected area function, and predicting a second drag area function based on a rescaling of the first drag area function by a ratio of the second projected area function to the first projected area function.