Abstract: A vehicle control unit arranged to control motion of a heavy-duty vehicle comprising first and second electric machine (EM) arrangements, wherein the vehicle control unit is arranged to control the first and second EM arrangement by transmitting wheel slip requests to respective EM control units, wherein the control unit is arranged to obtain a desired total longitudinal force to be jointly generated by the first and second EM arrangements, wherein the control unit is arranged to determine a desired first wheel slip corresponding to a first longitudinal force generated by the first EM arrangement, and a desired second wheel slip corresponding to a second longitudinal force generated by the second EM arrangement, wherein the control unit is arranged to balance a magnitude of the first wheel slip relative to a magnitude of the second wheel slip in dependence of the efficiency characteristics of the first and second EM arrangements.

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 wear rate 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 wheel end module for a heavy-duty vehicle includes a processing device, a radar module arrange to transmit a radar signal towards a surface supporting the vehicle and to receive backscatter from the radar signal, and a load sensing arrangement. The processing device determines a parameter related to a normal force associated with at least one wheel of the heavy-duty vehicle by the load sensing arrangement, determines a parameter related to a friction coefficient of the surface by the radar module. The processing device determines a wheel force generating capability of the at least one wheel, based on the normal force related parameter and on the friction coefficient related parameter. The wheel end module outputs the wheel force generating capability on an output interface of the wheel end module.

Abstract: A method for adapting air resistance of a heavy-duty vehicle. The vehicle comprises at least one electric machine for regenerative braking, one or more energy absorption devices to receive energy from the at least one electrical machine during regenerative braking, and a variable air resistance arrangement to provide a range of different air resistances of the vehicle. The method includes obtaining a current energy absorption capability of the one or more energy absorption devices; obtaining an expected energy generation from regenerative braking during a planned route of the vehicle and during a nominal value of air resistance of the vehicle; determining a desired air resistance of the vehicle from the range of different air resistances of the vehicle based on the current energy absorption capability and the expected energy generation; and adapting the variable air resistance arrangement according to the desired air resistance.

Abstract: The present disclosure generally relates to a computer implemented method for operating a vehicle (104, 106, 108), specifically in relation to efficient transporting of a predefined cargo. The present disclosure also relates to a corresponding arrangement and computer program product.

Abstract: A vehicle includes a first axle provided with at least a pair of first wheels, and a second axle provided with at least a pair of second wheels. The second axle is a steered axle allowing said second wheels to be turned. At least one first electric machine provides propulsion torque to the first axle. At least one second electric machine provides propulsion torque to the second axle. A control unit is configured to control the first and second electric machines, wherein the control unit is configured to limit the propulsion torque provided by said at least one second electric machine in dependence of a current state of the second axle.

Abstract: A method for controlling a vehicle brake system for a heavy duty vehicle including a primary brake system and an auxiliary brake system. The method includes configuring a wheel slip magnitude limit, obtaining a requested auxiliary brake torque, engaging the primary brake system at a torque determined in dependence of the requested auxiliary brake torque, while monitoring a wheel slip value, determining an allowable auxiliary brake torque in dependence of the requested auxiliary brake torque and the wheel slip value, and engaging the auxiliary brake system at the allowable auxiliary brake torque.

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 method for determining a parameter indicative of a road capability of a road segment (16) supporting a vehicle (10). The vehicle (10) comprises a sensor (18) adapted to generate an information package on the basis of signals (20, 22) reflected from the surface of a portion of the road segment (16) in front of the vehicle (10), as seen in an intended direction of travel of the vehicle (10). The vehicle (10) further comprises a plurality of ground engaging members (12, 14).

Abstract: A wheel end computer, WEC, (220) for hosting and executing one or more motion support device abstraction modules (MSDA, 221) configured to monitor and/or to control operations of one or more respective motion support devices, MSDs, (240, 250, 260, 270) on a heavy duty vehicle, where an MSDA provides a control and/or a monitoring interface between an external vehicle unit computer (VUC, 210), and a respective MSDs operational functionality, wherein the WEC (220) is arranged to identify a matching MSDA for each MSD in a set of MSDs, such that each MSD connected to the WEC is matched to a respective MSDA, and wherein the WEC (220) is arranged to receive a monitor and/or a control command from the VUC (210) for monitoring and/or controlling an MSD connected to the WEC, and to control the MSD via the respective matching MSDA.

Abstract: A method for controlling a heavy-duty vehicle to follow a reference path, the method including obtaining the reference path to be followed by the vehicle, determining a goal point along the path to be steered towards from a vehicle location in vicinity of the path, where the goal point is distanced along the path by a preview distance measured from a reference location associated with the vehicle location, where the preview distance is determined at least partly based on a lateral deviation of the vehicle location from the reference path, such that the preview distance increases with an increasing lateral deviation from the reference path, and decreases with a decreasing lateral deviation, and controlling the vehicle towards the goal point.

Abstract: A steering assembly for a vehicle comprises first and second steering actuators, each configured to be actuated in accordance with at least one signal issued from a motion control system to control a steering angle of at least one steerable ground engaging member of the vehicle. The first and second steering actuators are associated with corresponding first and second nominal steering capabilities, each defining at least one limitation of at least one of the following: steering angle, steering angle rate and steering torque, for the at least one steerable ground engaging member. The motion control system is adapted to, upon detection of a malfunction associated with the first steering actuator, associate the second steering actuator with a second enhanced steering capability instead of the second nominal steering capability. The second enhanced steering capability is different from the second nominal steering capability.

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 control system arranged to control transfer of energy to and from a heavy-duty vehicle, wherein the control system implements an application programming interface, API, configured to allow connections between control modules of the heavy duty vehicle and/or from one or more external entities to the vehicle wherein the control system is configured to determine an available amount of energy for transfer from the vehicle to an external consumer, and/or a desired amount of energy to transfer to the vehicle from an external energy source, wherein the control system is configured to exchange information related to the available amount of energy for transfer from the vehicle via the API, and wherein the control system is configured to exchange information related to the available amount of energy for transfer to the vehicle via the API.

Abstract: A method for determining a slip limit value for a wheel of a vehicle. The slip limit value is used for controlling the operation of the vehicle. The method comprises setting the slip limit value to be smaller than a high slip limit value for a majority of an operating time of the vehicle. The method also determines whether or not the vehicle assumes an infrequent manoeuvre condition in which the vehicle carries out an infrequent manoeuvre and/or or is predicted to carry out an infrequent manoeuvre within a predetermined time range, and in response to determining that the vehicle assumes the infrequent manoeuvre condition, setting the slip limit value to the high slip limit value.

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: The invention relates to a method for determining a parameter indicative of a road capability of a road segment supporting a vehicle. The vehicle comprises a plurality of ground engaging members.

Abstract: A wheel module arranged to generate torque to accelerate and to decelerate a heavy-duty vehicle. The wheel module comprises at least one electric machine arranged for regenerative braking, an eddy current braking device, and an electronic control unit, ECU. The wheel module further comprises a communications port arranged for communication with an external control unit and a power distribution network arranged to connect the electric machine to the eddy current braking device and to a power port arranged to input and to output electrical power to and from the wheel module. The ECU is arranged to obtain configuration data via the communications port indicative of a maximum output power of the power port, and to control the power distribution network to maintain the output power of the power port below the maximum output power by distributing power from the at least one electric machine between the eddy current braking device and the power port.