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公开(公告)号：US20230415746A1
公开(公告)日：2023-12-28
申请号：US18253360
申请日：2020-11-19
发明人： Toheed GHANDRIZ , Peter NILSSON , Bengt JACOBSON , Leo LAINE
CPC分类号： B60W30/18172 , B62D59/04 , B60W2300/145 , B60W2300/14 , B60W2300/126 , B60W2300/125 , B60W2552/40 , B60W2552/30 , B60W2520/105
摘要： A method for reducing off-tracking by a multi-trailer heavy duty vehicle during a maneuver, the method comprising obtaining a model of vehicle dynamics describing dynamics of the multi-trailer heavy duty vehicle, determining respective force trajectories for two or more axles of the vehicle as a solution to a non-linear optimal control problem, NOCP, where the NOCP is formulated with an objective to at least minimize trailer off-tracking, wherein the NOCP is formulated based on the model of vehicle dynamics, and controlling motion of the heavy duty vehicle during the maneuver based on the determined force trajectories.
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公开(公告)号：US20230150332A1
公开(公告)日：2023-05-18
申请号：US17754878
申请日：2019-10-23
发明人： Mats JONASSON , Leo LAINE , Bengt JACOBSON
IPC分类号： B60G17/018 , B60G17/0195 , B60W40/13 , G01G19/08 , G01G19/14
CPC分类号： B60G17/0182 , B60G17/0195 , B60W40/13 , G01G19/08 , G01G19/14 , B60G2300/026 , B60G2300/042 , B60G2400/60 , B60G2400/104 , B60G2400/106 , B60G2400/204 , B60G2400/0511 , B60G2400/0512 , B60G2400/0531 , B60G2400/0532 , B60G2400/0533
摘要： 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, Fz2max) and on the second tyre normal force range (Fz2,min, Fz2,max).
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公开(公告)号：US20240001928A1
公开(公告)日：2024-01-04
申请号：US18253365
申请日：2020-11-19
发明人： Toheed GHANDRIZ , Peter NILSSON , Bengt JACOBSON , Leo LAINE
CPC分类号： B60W30/18172 , B60W30/18127 , B62D59/04 , B60W2552/40 , B60W2552/30 , B60W2520/26 , B60W2520/10 , B60W2520/105 , B60W2300/145 , B60W2300/126
摘要： A method for controlling motion of a heavy-duty vehicle, comprising obtaining information related to an upcoming vehicle path and vehicle maneuver along the path, obtaining information related to a road friction coefficient along the upcoming vehicle path, configuring lateral and longitudinal wheel slip limits for at least two wheels of an axle or lumped group-axle on the heavy-duty vehicle, wherein lateral and longitudinal wheel slip values are related to respective lateral and longitudinal tire force values via a pre-determined combined tire slip model, determining a vehicle motion profile for performing the vehicle maneuver along the path as a solution to a non-linear optimal control problem, NOCP, wherein the NOCP is constrained by the lateral and longitudinal wheel slip limits and formulated to account for the road friction coefficient and/or curvature along the upcoming vehicle path, and controlling the motion of the heavy-duty vehicle along the path based on the determined target vehicle motion profile.
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