Abstract: A dolly vehicle includes at least one motion support device, MSD, and a control unit arranged for vehicle motion management, VMM, wherein the control unit is configurable in a master mode where the at least one MSD is controlled based on a set of capabilities of a vehicle combination comprising the dolly vehicle to fulfil an assigned task. The control unit is configurable in a slave mode where the at least one MSD is controlled based on requests received from an external master control unit.

Abstract: A control system for controlling a retardation of a vehicle. The control system is adapted to use power loss information for each motion support device controlling the retardation of the vehicle. For each one of the motion support devices, the power loss information is such that, for each one of a plurality of operating points, the power loss information comprises a power loss value indicative of a power loss of the motion support device when operated at the operating point, each operating point being related to at least a load produced by the motion support device.

Abstract: A method of controlling a vehicle propulsion system comprising at least two motion support devices, wherein each motion support device comprises an actuator configured to apply a torque on at least one wheel of a vehicle during propulsion and to generate electric power during braking. A lumped efficiency value for the actuators is determined based on an aggregated mechanical power level at a previous point in time, an aggregated electrical power level at the previous point in time, and an estimated actuator torque distribution between the actuators, whereby a power distribution for the actuators is allocated based on the lumped efficiency value and a torque request, and control signal is transmitted to each of the at least two motion support devices to control the respective actuator based on the allocated power distribution.

Abstract: A computer-implemented method of determining a torque limit for an operating state of a first vehicle combination is provided. The method includes simulating a plurality of operating states for one or more second vehicle combinations. Each operating state is based on one or more operational parameters related to physical properties of the one or more second vehicle combinations, one or more parameters related to an operating environment of the one or more second vehicle combinations, and one or more parameters related to a driving scenario of the one or more second vehicle combinations. The method includes classifying each of the simulated operating states as safe or unsafe, receiving an unsimulated operating state for the first vehicle combination, and determining a torque limit for the unsimulated operating state based on the simulated operating states.

Abstract: A method of controlling a motion support system (MSS) in a heavy commercial vehicle comprising repeatedly selecting a current drive mode; solving a quadratic programming (QP) problem related to optimal control of independently controlled MSS actuators in accordance with a current state of the vehicle and subject to constraints representing actuator limits, wherein the actuators include at least two electric motors at respective axles and a set of service brakes; and utilizing a solution of the QP problem for controlling the MSS. The selectable drive modes include a first drive mode, in which the QP problem represents a control allocation problem for the MSS, and a second drive mode, in which the QP problem minimizes power loss in the MSS. The QP problem in the second drive mode includes relationships between power loss and torque for at least two of the actuators, especially smooth approximate relationships.

Abstract: A computer system comprising processing circuitry to handle brake strategies for a braking arrangement of a vehicle is provided. The braking arrangement has a first brake strategy. The processing circuitry obtains one or more brake strategy parameters. The one or more brake strategy parameters is indicative of a status of the braking arrangement and/or one or more environmental parameters of a road travelled by the vehicle. The processing circuitry is configured to, based on a motion of the vehicle and the one or more brake strategy parameters, select a second brake strategy out of the set of brake strategies for the braking arrangement to use. The processing circuitry triggers the braking arrangement of the vehicle to transition from the first brake strategy to the second brake strategy.

Abstract: A control system for controlling a retardation of a vehicle. The control system is adapted to use power loss information for each motion support device controlling the retardation of the vehicle. For each one of the motion support devices, the power loss information is such that, for each one of a plurality of operating points, the power loss information comprises a power loss value indicative of a power loss of the motion support device when operated at the operating point, each operating point being related to at least a load produced by the motion support device.

Abstract: A method for controlling a technical system in real time, comprising: sensing a state of the technical system; with the sensed state, initiating independent executions of a plurality of optimization processes (P1, P2, P3, . . . ) configured to solve a predefined optimization problem related to optimal control of the technical system; after a predetermined delay, extracting a current solution vector (u1, u2, u3, . . . ) from each optimization process; computing differences (dij˜?ui?uj?) for pairs of the solution vectors; and on the basis of the differences, selecting at least one of the solution vectors for use in controlling the technical system.

Abstract: The present disclosure relates to a method for controlling steering of a vehicle arrangement. The method is controlling steering of the vehicle arrangement during a turning maneuver, by applying a differential wheel speed by at least one of individually controllable electric machines and reducing the operational capacity of a power steering system, when a first power utilization value, obtained by operating the individually controllable electric machines with the differential wheel speed, is equal to, or greater than a second power utilization value, obtained by operating the power steering system during the turning maneuver.

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: A system for estimating an articulation angle of a vehicle combination comprises a motion sensor for sensing one or more linear and/or angular motion quantities of the vehicle combination and a dynamics-based estimator configured to estimate state variables, including the articulation angle on the basis of the sensed motion quantities, wherein the dynamics-based estimator is dependent on one or more masses and moments of inertia of the vehicle combination.

Abstract: The present disclosure relates to a method for controlling steering of a vehicle arrangement. The method is controlling steering of the vehicle arrangement during a turning maneuver, by applying a differential wheel speed by at least one of individually controllable electric machines and reducing the operational capacity of a power steering system, when a first power utilization value, obtained by operating the individually controllable electric machines with the differential wheel speed, is equal to, or greater than a second power utilization value, obtained by operating the power steering system during the turning maneuver.

Abstract: A dolly vehicle includes at least one motion support device, MSD, and a control unit arranged for vehicle motion management, VMM, wherein the control unit is configurable in a master mode where the at least one MSD is controlled based on a set of capabilities of a vehicle combination comprising the dolly vehicle to fulfil an assigned task. The control unit is configurable in a slave mode where the at least one MSD is controlled based on requests received from an external master control unit.

Abstract: A system for estimating an articulation angle of a vehicle combination comprises a motion sensor for sensing one or more linear and/or angular motion quantities of the vehicle combination and a dynamics-based estimator configured to estimate state variables, including the articulation angle on the basis of the sensed motion quantities, wherein the dynamics-based estimator is dependent on one or more masses and moments of inertia of the vehicle combination.