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 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 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 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 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 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: 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 braking arrangement for decelerating a heavy duty vehicle, the arrangement including a control unit, at least one electric machine arranged for regenerative braking, an electrical energy absorption device, an eddy current braking device, and a power distribution network arranged to connect the electric machine to the energy absorption device and to the eddy current braking device, wherein the control unit is configured to distribute regenerated electrical power from the electric machine between the energy absorption device and the eddy current braking device by the power distribution network in dependence of a target deceleration value of the heavy duty vehicle.

Abstract: A wheel brake arrangement for a vehicle, the wheel brake arrangement comprising an eddy current wheel brake configured to receive electric power from a source of electric power of the vehicle during braking, and a transmission arrangement comprising a first shaft connected to the eddy current wheel brake and a second shaft connectable to a wheel of the vehicle, wherein the transmission arrangement comprises a ratio varying arrangement, the ratio varying arrangement being configured to, for any rotational speed below a predetermined threshold speed of the second shaft during braking, control a rotational speed of the first shaft to be maintained within a predetermined rotational speed range.

Abstract: A method in a vehicle equipped with a long-range and a short-range interface comprises maintaining a connection to an access network using the long-range interface; recording a time and location at which the connection to the access network is operable; in case of failure of the connection to the access network, attempting to form a vehicle ad-hoc network (VANET) using the short-range interface; and sharing, with other vehicles in the VANET, the recorded time and location. Further, the vehicle may receive, from the other members of the VANET, a time and location at which the other members' connection to the access network was operable. From the time and location recorded by the vehicle and the time and location it receives, the vehicle derives coverage information indicative of a geographical boundary of an operable portion of the access network.

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 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.