Abstract: A method for assessing the quality of a solution from an optimization process configured to solve a constrained quadratic problem (QP), the method comprising: initiating an execution of an active-set optimization process configured to solve the constrained QP; obtaining a first solution vector and an associated active set of constraints from the execution of the active-set optimization process; substituting variables in the constrained QP in accordance with the active set of constraints to form an associated unconstrained QP; initiating an execution of a second optimization process configured to solve the associated unconstrained QP; obtaining a second solution vector from the execution of the second optimization process; and generating a quality indicator for the first solution vector on the basis of a difference between the first and the second solution vectors.

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: A control system for determining a reference side area for a vehicle entity. The vehicle entity is a vehicle or a vehicle trailer and having a nominal vehicle entity side area. The reference side area is adapted to be multiplied with a side force coefficient for determining a side force parameter proportional to a wind side force load imparted on the vehicle entity and/or to be multiplied with a lift coefficient for determining a lift parameter proportional to a wind lift load imparted on the vehicle entity and/or to be combined with a drag coefficient for determining a drag load imparted on the vehicle entity. The vehicle entity comprises a load surface adapted to receive a material load such that at least a portion of the material load can be exposed to wind loads. The load surface being associated with a load surface area and a load surface length.

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, Fz2,max) and on the second tyre normal force range (Fz2,min, Fz2,max).

Abstract: A computer system comprising processing circuitry configured to determine vehicle motion information of a vehicle is provided. The processing circuitry is configured to receive first sensor data and second sensor data for estimating vehicle motion with respect to one or more common reference entities. The first sensor data has sensor data of a first type. The second sensor data is sensor data of a second type. The first type differs from the second type. The processing circuitry determines a first quality metric associated with the first sensor data. The processing circuitry is determines whether to use the first sensor data, the second sensor data, or a combination thereof as a basis for determining the vehicle motion information based on the first quality metric associated with the first sensor data.

Abstract: A computer system has processing circuitry configured to receive a braking request for braking a vehicle including an electrically powered tractor, and a trailer coupled to the tractor by an articulated coupling; provide a first braking command encoding instructions to control braking on at least a front axle of the tractor, and on a rear drive axle of the tractor to provide a combined braking force fulfilling the braking request; receive a first set of vehicle parameters; determine, based on the first set of vehicle parameters, that an understeer tendency of the vehicle during braking is higher than a predefined first understeer tendency threshold; and provide a second braking command encoding instructions to increase a braking force on the rear drive axle of the tractor using regeneration, and decrease a braking force on the front axle of the tractor, so that the combined braking force fulfills the braking request.

Abstract: A self-powered dolly vehicle unit with an adaptable wheelbase, the dolly vehicle unit comprising a front axle arranged to support a pair of steerable front wheels, a rear axle arranged to support a pair of rear wheels, a fifth wheel connection for towing a trailer vehicle, a draw-bar attachment mechanism arranged to hold a draw-bar, and a frame structure arranged to support the front axle and the rear axle at a variable wheelbase distance from each other, wherein the frame structure is arranged to be locked at a first wheelbase distance position and at a second wheelbase distance position.

Abstract: A method includes receiving at least a portion of a shared operating conditions model from a remote statistics processor, receiving real-time sensor measurement data from sensors of the vehicle, determining a vehicle-specific operating conditions model based on the portion of the shared operating conditions model and the real-time sensor measurement data, and using the vehicle-specific operating conditions model to predict upcoming operating conditions for the vehicle. Another method includes receiving respective sensor measurement data from a plurality of vehicles, determining a shared operating conditions model based on the measurement data, and causing provision of at least a portion of the shared operating conditions model to a specific vehicle.

Abstract: A method in a vehicle for estimating vehicle motion state during a vehicle maneuver, comprising; obtaining a trigger signal indicating an onset of the vehicle maneuver, selecting a sub-set of wheels on the vehicle to be in a free-rolling condition, measuring one or more parameters related to revolution of the sub-set of wheels in free-rolling condition, and estimating the vehicle motion state based on the measured parameters.

Abstract: A method for determining a mass property of a land-based vehicle for cargo transport. The method comprises registering one or more properties of a cargo unit entering the vehicle, wherein at least one of the properties is related to a mass of the cargo unit, estimating a location of the cargo unit in the vehicle, and determining at least one vehicle mass property of the vehicle based on the one or more registered properties and on the estimated location of the cargo unit.

Abstract: A system for controlling a braking operation of a vehicle, the system comprising an electric machine configured to apply a torque during propulsion, and to generate electric power during braking, an eddy current wheel brake connectable to a wheel of the vehicle, the eddy current wheel brake being electrically connected to the electric machine, and a control unit comprising control circuitry configured to receive a signal indicative of a demanded braking operation for the vehicle, determine a brake power state for the vehicle based on the demanded braking operation, compare the brake power state with a predetermined set of rules, control the electric machine to generate electric power, and control the electric machine to feed electric power, generated during the demanded braking operation, to the eddy current wheel brake when the brake power state fails to fulfil at least one rule of the predetermined set of rules.

Abstract: A computer system for controlling at least one motion actuator in an autonomous or semi-autonomous vehicle, the computer system comprising processing circuitry implementing a feedback controller, which is configured to sense an actual motion state of the vehicle and determine a machine-level instruction to the motion actuator for approaching or maintaining a setpoint motion state, and a reinforcement-learning agent, which is trained to perform decision-making regarding the setpoint motion state. The decisions by the reinforcement-learning agent are applied as the setpoint motion state of the feedback controller, and the machine-level instruction from the feedback controller is applied to the motion actuator.

Abstract: A control unit for controlling at least one MSD on a heavy-duty vehicle is provided. The control unit is arranged to determine a limiting operating point of the MSD associated with a performance limit of the MSD, determine a preferred operating point of the MSD indicative of an operating point of the MSD associated with an improvement in a secondary objective function value compared to the limiting operating point, and transmit a capability message to a VMM function comprising the limiting operating point of the MSD and the preferred operating point of the MSD.

Abstract: A method for controlling an articulated vehicle combination comprising a plurality of self-powered vehicle units, wherein each self-powered vehicle unit comprises a propulsion device and a regenerative braking device connected to an energy source, the method comprising determining a current state of charge associated with an energy source of a target vehicle unit comprised in the plurality of self-powered vehicle units, and if the current state of charge is below a desired state of charge, generating a negative torque by the regenerative braking device of the target vehicle unit, and compensating at least partly for the generated negative torque by generating a positive torque by the propulsion device of at least one source vehicle unit comprised in the plurality of self-powered vehicle units, thereby transferring an amount of energy from the energy source of the at least one source vehicle unit to the energy source of the target vehicle unit.

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: 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 control unit for controlling a heavy-duty vehicle, the control unit being arranged to receive ambient environment data from one or more environment sensors on the heavy-duty vehicle, and to predict an impact of the ambient environment on the motion of the heavy-duty vehicle, wherein the control unit is arranged to coordinate control of one or more motion support devices, MSDs, on the heavy-duty vehicle to compensate for the predicted impact of the ambient environment on the motion of the heavy-duty vehicle.

Abstract: A control system for a vehicle. The control system comprises a force determination controller adapted to determine external load characteristics of external loads that currently act or are predicted to act on the vehicle. The control system is adapted to determine a resulting force vector to be acting on the vehicle, using the external load characteristics, in order to obtain a requested vehicle operation behaviour. The control system is further adapted to issue control information to one or more motion support devices of the vehicle in order to control the one or more motion support devices so as to generate the resulting force vector on the vehicle. The control system further comprises a feedforward controller adapted to receive wind information representative of a wind currently acting or predicted to be acting on the vehicle.

Abstract: A control unit for controlling at least one torque generating MSD on a heavy-duty vehicle. The control unit receives a motion request indicative of a desired positive longitudinal tire force to be generated by the torque generating MSD, obtains an estimated applied torque indicative of a current torque generated by the torque generating MSD, determines a target wheel speed based on the motion request and on the estimated applied torque, and configures the torque generating MSD to maintain the target wheel speed. The control unit is arranged to decrease the target wheel speed in case an increase in configured wheel speed results in a decrease in the estimated applied torque.

Abstract: A control unit for controlling a heavy-duty vehicle is arranged to obtain an initial inverse tire model configured to represent a preliminary relationship between wheel slip and generated longitudinal wheel force for at least one wheel of the heavy-duty vehicle. The control unit obtains data from a tire thread deflection sensor configured to measure an amount of tire thread deflection associated with the at least one wheel, and an amount of wheel slip of the at least one wheel corresponding to the amount of tire thread deflection. The control unit updates the obtained initial inverse tire model based on the amount of tire thread deflection and on the corresponding amount of wheel slip. The control unit controls the heavy-duty vehicle by configuring a target wheel speed or a target wheel slip of the at least one wheel based on the updated inverse tire model to generate a target longitudinal wheel force.