Abstract: A computer system (900) has processing circuitry to assist in handling a set of differentials of a vehicle. The processing circuitry determines a required longitudinal force for driving the vehicle in a driving direction. The processing circuitry predicts a first longitudinal force of the vehicle according to a current configuration, and to predict second longitudinal forces of the vehicle using differential locking configurations associated with locking or unlocking the set of differentials. The processing circuitry is configured to, when the first longitudinal force is below the required longitudinal force, select one of the differential locking configurations for the vehicle to use, which selected differential locking configuration is associated with a second longitudinal force equal to, or greater than, the required longitudinal force.

Abstract: A method for controlling steering of a self-powered steerable dolly vehicle during a maneuver, the method comprising determining an articulation angle associated with a drawbar of the dolly vehicle, determining a longitudinal velocity of the dolly vehicle, and controlling the steering of the dolly vehicle based on the articulation angle and on the longitudinal velocity of the dolly vehicle, wherein the controlling comprises initially steering the dolly vehicle in a direction of the articulation angle direction in case the longitudinal velocity of the dolly vehicle is above a velocity threshold.

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 single axle dolly vehicle unit for a heavy duty vehicle combination, the dolly vehicle unit comprising an electrical energy source arranged to power at least one electric machine configured to drive left and right wheels of the single axle, the dolly vehicle unit further comprising a drawbar and a fifth wheel connection for mating with first and second trailer units, respectively, wherein the fifth wheel connection is arranged to be adjusted in height over ground by a variable height suspension system, the dolly vehicle unit further comprising a control unit arranged to control the variable height suspension system.

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.

Abstract: A method includes the steps of parking a trailer by means of a towing vehicle, which trailer is coupled to the towing vehicle via a coupling element of the trailer; the towing vehicle estimating position and heading of the coupling element of the parked trailer; transmitting the estimated position and heading of the coupling element of the parked trailer to a data storage device; and automatically uncoupling the trailer from the towing vehicle, so that the towing vehicle can drive away from the parked trailer.

Abstract: A motion support device, MSD, control unit for a heavy duty vehicle, configured to control one or more MSDs associated with a wheel on the vehicle, wherein the MSD control unit is configured to be communicatively coupled to a vehicle motion management, VMM, unit for receiving control commands from the VMM unit comprising wheel speed and/or wheel slip requests to control vehicle motion by the one or more MSDs. The MSD control unit is configured to obtain a capability range indicating a range of wheel behaviors of the wheel for which the VMM unit is allowed to influence the behavior of the wheel by the control commands, monitor wheel behavior and to detect if wheel behavior is outside of the capability range, and trigger a control intervention function in case the monitored wheel behavior is outside of the capability range.

Abstract: A vehicle motion management (VMM) system for a heavy-duty vehicle, configured to obtain a desired wheel force value of a wheel of the vehicle; determine a torque limit for a first motion support device (MSD) associated with the wheel based on the desired wheel force value; determine a tire model based on a relationship between wheel force and wheel speed of the wheel; determine a desired wheel speed for the first MSD based on the tire model; and determine a torque fill request for a second MSD of the vehicle based on the desired wheel force and on a torque capability of the first MSD. The VMM system determines the torque fill request for the second MSD in dependence of the torque limit for the first MSD in case the operating torque of the first MSD is limited by the torque limit, and to determine the torque fill request for the second MSD in dependence of an applied torque status signal in case the operating torque of the first MSD is not limited by the torque limit.

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 tire heating system for a vehicle, the heating system comprising an-electric power system configured to assume at-energy generating mode, an energy storage system electrically connected to the electric power system, a tire heating arrangement electrically connected to the electric power system and configured to heat tire of a wheel of the vehicle by electric power received from the electric power system, and control unit connected to the electric power system and to the energy storage system, the control unit comprising control circuitry configured to determine energy power absorption capability of the energy storage system; compare the energy power absorption capability with the electric power generated by the electric power system when electric power system assumes the energy generating mode; and control the electric power system to feed electric power to tire heating arrangement when the electric power generated in energy generating mode exceeds energy power absorption capability.

Abstract: The present disclosure relates to a vehicle motion management system as well as a motion support system for a vehicle. The vehicle motion management system and the motion support 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 indicative of a desired torque and a wheel speed limit to the motion support system, whereby the motion support system is, based on the received signal, configured to transmit an actuator signal to the actuator for the actuator to generate an operating torque on the at least one wheel without exceeding an actuator rotational speed limit.

Abstract: The invention relates to a control unit for controlling torque applied to a vehicle wheel provided with a tyre, wherein the control unit comprises or is operatively connected to a data storage, which data storage has a stored tyre model for the tyre, wherein, in the tyre model, longitudinal tyre force is represented as at least a function of longitudinal wheel slip, longitudinal wheel slip being dependent on rotational speed of the wheel and velocity of the vehicle. The control unit is configured to correct said function based on a tyre parameter input and to convert a wheel torque request to a wheel rotational speed request based on the corrected function, and to send the wheel rotational speed request to an actuator for providing a rotational speed of the wheel corresponding to said wheel rotational speed request. The invention also relates to a method and to a kit.

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 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 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 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 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 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 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.