Abstract: A computer-implemented method for providing control data for at least one driver support system of a vehicle, or for at least one driving assistance system of the vehicle for supporting driving of the vehicle on a desired path through a curvature planning and steering, can comprise: obtaining suspension data of the vehicle, obtaining vehicle data of the vehicle, obtaining vehicle driving sensor data of the vehicle, determining a steering angle data based on the suspension data, the vehicle data, and the vehicle driving sensor data, and determining the control data for the at least one driver support system or the at least one driving assistance system based on the steering angle data and a curvature vehicle model.

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 radar module determines a two-dimensional velocity vector of a heavy-duty vehicle with respect to a ground plane supporting the vehicle. The system has a radar transceiver arranged to transmit and to receive a radar signal, via an antenna array, wherein the antenna array is configured to emit the radar signal in a first direction and in a second direction different from the first direction. The radar module has a processing device to detect first and second radar signal components of the received radar signal based on their respective angle of arrival, AoA, where the first radar signal component has an AoA corresponding to the first direction and the second radar signal component has an AoA corresponding to the second direction. The processing device determines the two-dimensional velocity vector of the heavy-duty vehicle based on respective Doppler frequencies of the first and second radar signal components.

Abstract: The disclosure relates to a method for controlling a motion of a vehicle. The vehicle can comprise an electric powertrain having at least one drive axle with a left output shaft and a right output shaft, a power assisted steering unit, and a propulsion torque distribution unit. The propulsion torque distribution unit can be configured to allocate wheel torques of different magnitudes to the left output shaft and the right output shaft respectively. The method can comprise receiving a total longitudinal force target value, a total lateral force target value and a total yaw moment target value. The method can further comprise determining a first wheel torque for the left output shaft and a second wheel torque for the right output shaft which minimize a total power consumption of the drive axle and the power assisted steering unit.

Abstract: A vehicle motion management, VMM, system for a heavy-duty vehicle has at least one wheel speed sensor to output a wheel speed signal indicative of a rotation speed of a wheel on the vehicle, and at least one torque-generating device to apply torque to the wheel. The VMM system comprises processing circuitry arranged to determine at least the direction of a current applied torque at the wheel, and in preparation for determining wheel speed by the wheel speed signal, to apply a transient amount of torque to the wheel by the torque-generating device during a limited time period in a direction opposite to the direction of the current applied torque at the wheel.

Abstract: A radar module determines a two-dimensional velocity vector of a heavy-duty vehicle with respect to a ground plane supporting the vehicle. The system has a radar transceiver arranged to transmit and to receive a radar signal, via an antenna array, wherein the antenna array is configured to emit the radar signal in a first azimuth direction and in a second azimuth direction different from the first azimuth direction. The radar module further has a processing device arranged to detect first and second radar signal components of the received radar signal based on their respective angle of arrival, AoA, where the first radar signal component has an AoA corresponding to the first azimuth direction and the second radar signal component has an AoA corresponding to the second azimuth direction. The processing device is arranged to determine the two-dimensional velocity vector of the heavy-duty vehicle based on respective Doppler frequencies of the first and second radar signal components.

Abstract: A control unit for early detection and response to a tire explosion in a heavy-duty vehicle, 1) obtains sensor data for a first and a second tire explosion detection system, where the first tire explosion detection system has a lower response time than the second system, 2) detects a tire explosion from the sensor data of the first system, and in response to detecting the tire explosion, prepare the vehicle for a safety maneuver, 3) confirms the tire explosion by detecting the tire explosion from the sensor data of the second system, and in response to confirming the tire explosion, executes the safety maneuver.

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 vehicle motion management, VMM, system for a heavy-duty vehicle has at least one wheel speed sensor to output a wheel speed signal indicative of a rotation speed of a respective wheel on the vehicle, at least one inertial measurement unit, IMU, to output an IMU signal indicative of an acceleration of the vehicle, a motion estimation function to estimate a vehicle motion state comprising vehicle speed over ground, based at least in part on the wheel speed signal and at least in part on the IMU signal, and a motion support device, MSD, coordination function to coordinate actuation of a plurality of MSDs of the heavy-duty vehicle in dependence of a vehicle motion request and the vehicle motion state. The motion estimation function models an error in the estimated vehicle motion state, and to output a free-rolling request to the MSD coordination function in case the modelled error fails to meet an acceptance criterion.

Abstract: A vehicle motion management, VMM, system for a heavy-duty vehicle has at least one radar module configured to determine a speed over ground of the heavy-duty vehicle, a motion estimation function configured to estimate a vehicle motion state based at least in part on the speed over ground, and a motion support device, MSD, coordination function configured to coordinate actuation of a plurality of MSDs of the heavy-duty vehicle in dependence of a vehicle motion request and the vehicle motion state. The radar module outputs a radar performance metric to the MSD coordination function indicative of an accuracy of the determined speed over ground. The MSD coordination function reduces a wheel slip set-point of one or more wheels of the heavy-duty vehicle in case the radar performance metric does not meet a pre-determined acceptance criterion.

Abstract: A vehicle motion management, VMM, system for a heavy-duty vehicle has at least one wheel speed sensor outputs a wheel speed signal indicative of a rotation speed of a respective wheel on the vehicle, at least one inertial measurement unit, IMU, outputs an IMU signal indicative of an acceleration of the vehicle, a motion estimation function estimates a vehicle motion state comprising vehicle speed over ground, SOG, based on the at least one wheel speed signal and on the at least one IMU signal. The motion estimation function estimates a respective SOG error associated with the wheel speed signal as an increasing function of an applied torque to the wheel, and a respective SOG error associated with the IMU signal as an increasing function of a time duration elapsed after calibration of an integrator of the IMU signal.

Abstract: A computer-implemented method is disclosed for a vehicle comprising a vehicle body and a vehicle subsystem for load carrying, wherein the vehicle subsystem for load carrying is configured to be increasingly tilted in relation to the vehicle body for load discharge during a tipping operation of the vehicle. The method comprises (during the tipping operation) acquiring respective lateral load balance metrics for two different locations along the longitudinal dimension of the vehicle, dynamically determining a difference between the respective lateral load balance metrics, and causing a tipping interruptive action to be performed based on an increase rate of the difference.

Abstract: A computer system for a vehicle combination is disclosed. The computer system has a first controller implemented in a first unit of the vehicle combination. The first controller, in a first mode of operation, determines a requested unit control input for one or more units of the vehicle combination based on a reference input representing a requested movement of the vehicle combination. A second controller is implemented in a second unit of the vehicle combination. The second controller, in the first mode of operation, receives a requested unit control input for the second unit from the first controller, and implements the requested unit control input for the second unit in the second unit, and, in a second mode of operation, determines a requested unit control input for one or more units of the vehicle combination based on the reference input.

Abstract: A sensor device comprises an advanced antenna array radar transceiver configured to measure motion of the sensor device relative to an external surface in a reference frame of the sensor device and provide corresponding radar data, and an inertial measurement unit, IMU, configured to measure motion of the sensor device in a reference frame of the sensor device and provide corresponding IMU data. The advanced antenna array radar transceiver and the IMU are fixedly mounted relative each other. Processing circuitry is configured to determine an orientation of the sensor device relative an inertial reference frame (e.g., in terms of one or more Euler angle(s)) based on joint processing of the radar data and the IMU data.

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-implemented method for switching between a first controller and a second controller for a vehicle includes in a first operation stage, controlling an operational parameter of at least one MSD of the vehicle using the first controller, thereby providing a first tire force at at least one tire associated with the MSD, determining a second tire force for the at least one tire based on a vehicle model associated with the second controller, in a second operation stage, controlling the operational parameter of the at least one MSD using a third controller, comprising determining an intermediate value for the operational parameter based on the first and second tire forces, and in a third operation stage, controlling the operational parameter of the at least one MSD using the second controller, thereby providing the second tire force at the at least one tire.

Abstract: A computer implemented method for determining a road friction condition associated with at least one wheel on a heavy-duty vehicle includes transmitting a radar signal by at least one polarimetric radar transceiver towards a surface supporting the vehicle, and receiving backscatter from the transmitted radar signal, where the radar signal comprises a first polarization component and a second polarization component different from the first polarization component, processing the received backscatter by a processing device to determine a friction parameter related to the road friction condition of the surface, monitoring the friction parameter over time to detect change in the friction parameter, and in case change in the friction parameter is detected, triggering friction estimation by a secondary physical friction estimation system.

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: 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).