公开(公告)号：US20250026325A1

公开(公告)日：2025-01-23

申请号：US18714882

申请日：2021-12-01

Applicant: VOLVO TRUCK CORPORATION

Inventor： Mats RYDSTRÖM ,  Leo LAINE ,  Leon HENDERSON

IPC: B60T8/172

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.

公开(公告)号：US20230068987A1

公开(公告)日：2023-03-02

申请号：US17758762

申请日：2020-01-15

Applicant: VOLVO TRUCK CORPORATION

Inventor： Leo LAINE ,  Mattias ASBOGÅRD ,  Leon HENDERSON

IPC: B60L15/20 ,  B60L3/10 ,  B60L3/00

Abstract: A control unit for a heavy duty vehicle. The vehicle includes an electric machine connected to first and second driven wheels via an differential. The control unit includes a first wheel slip control module associated with the first driven wheel, and a second wheel slip control module associated with the second driven wheel, where each wheel slip control module is arranged to determine an obtainable torque by the respective wheel based on a current wheel state, wherein the control unit is arranged to determine a required torque to satisfy a requested acceleration profile by the vehicle, and to request a torque from the electrical machine corresponding to the smallest torque out of the obtainable torques for each driven wheel and the required torque.

公开(公告)号：US20220177033A1

公开(公告)日：2022-06-09

申请号：US17435988

申请日：2019-03-07

Applicant: VOLVO TRUCK CORPORATION

Inventor： Leo LAINE ,  Leon HENDERSON

IPC: B62D13/06 ,  B60W30/18 ,  B60W40/06 ,  B60W40/12 ,  G01C21/00

Abstract: A method for determining a drivable area by a vehicle. The method comprising; obtaining data related to a track of the vehicle, wherein the data comprises a plurality of corresponding positions, headings and articulation angles of the vehicle along the track, obtaining size information of the vehicle, determining a swept area of the vehicle for the track based on the data and on the size information of the vehicle, configuring a sensor on the vehicle to detect when the vehicle drives over an obstacle, recording any obstacles detected by the sensor, and determining the drivable area based on the swept area and on recorded obstacles.

公开(公告)号：US20250131778A1

公开(公告)日：2025-04-24

申请号：US18917451

申请日：2024-10-16

Applicant: VOLVO TRUCK CORPORATION

Inventor： Adithya ARIKERE ,  Mats JONASSON ,  Leo LAINE ,  Leon HENDERSON ,  Jonas KARSTRÖM

IPC: G07C5/08

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.

公开(公告)号：US20250050851A1

公开(公告)日：2025-02-13

申请号：US18721406

申请日：2021-12-20

Applicant: VOLVO TRUCK CORPORATION

Inventor： Ramadan SALIF ,  Mats RYDSTRÖM ,  Johan LINDBERG ,  Leo LAINE ,  Leon HENDERSON

IPC: B60T8/1761

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.

公开(公告)号：US20240367639A1

公开(公告)日：2024-11-07

申请号：US18554048

申请日：2021-04-07

Applicant: VOLVO TRUCK CORPORATION

Inventor： Leo LAINE ,  Leon HENDERSON ,  Ulf STENBRATT ,  Adithya ARIKERE ,  Chidambaram SUBRAMANIAN

IPC: B60W30/02 ,  G01M17/02

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.

公开(公告)号：US20240182036A1

公开(公告)日：2024-06-06

申请号：US18553435

申请日：2021-03-30

Applicant: VOLVO TRUCK CORPORATION

Inventor： Leon HENDERSON ,  Leo LAINE

IPC: B60W30/18

CPC classification number: B60W30/18172 ,  B60W2520/06 ,  B60W2520/10 ,  B60W2520/105 ,  B60W2520/12 ,  B60W2520/125 ,  B60W2520/20 ,  B60W2520/26 ,  B60W2530/16 ,  B60W2530/20 ,  B60W2552/30

Abstract: A method for determining a slip limit value for a wheel of a vehicle. The slip limit value is used for controlling the operation of the vehicle. The method comprises setting the slip limit value to be smaller than a high slip limit value for a majority of an operating time of the vehicle. The method also determines whether or not the vehicle assumes an infrequent manoeuvre condition in which the vehicle carries out an infrequent manoeuvre and/or or is predicted to carry out an infrequent manoeuvre within a predetermined time range, and in response to determining that the vehicle assumes the infrequent manoeuvre condition, setting the slip limit value to the high slip limit value.

公开(公告)号：US20220185117A1

公开(公告)日：2022-06-16

申请号：US17456418

申请日：2021-11-24

Applicant: VOLVO TRUCK CORPORATION

Inventor： Leon HENDERSON ,  Leo LAINE ,  Adithya ARIKERE ,  Sidhant RAY

IPC: B60L7/26 ,  B60L15/32 ,  B60L15/20

Abstract: A comprises a vehicle control unit, VCU, and a control module, CM, configured to control the torque actuators. The VCU is configured to send to the CM a parameter request and a desired recuperation power or a desired parameter split ratio. If the CM determines that these are conflicting targets, then based on one or more predefined criteria, the CM will apply a parameter value and allocate a recuperation power or a parameter split ratio such that the applied parameter value is different from the requested one and/or the allocated recuperation power or parameter split ratio is different from the desired one. A method of controlling a wheel is also disclosed.

公开(公告)号：US20220126801A1

公开(公告)日：2022-04-28

申请号：US17450518

申请日：2021-10-11

Applicant: VOLVO TRUCK CORPORATION

Inventor： Leo LAINE ,  Adithya ARIKERE ,  Sidhant RAY ,  Mattias ÅSBOGÅRD ,  Leon HENDERSON

IPC: B60T8/1761 ,  B60T8/17 ,  B60T8/171

Abstract: A control unit (130, 140, 300) for controlling a heavy duty vehicle (100), wherein the control unit is arranged to obtain an acceleration profile (areq) and a curvature profile (creq) indicative of a desired maneuver by the vehicle (100), the control unit (130, 140, 300) comprising a force generation module (310) configured to determine a set of global vehicle forces and moments required to execute the desired maneuver, the control unit (130, 140, 300) further comprising a motion support device, MSD, coordination module (320) arranged to coordinate one or more MSDs to collectively provide the global vehicle forces and moments by generating one or more respective wheel forces, and an inverse tyre model (330) configured to map the one or more wheel forces into equivalent wheel slips (λ), wherein the control unit (130, 140, 300) is arranged to request the wheel slips (λ) from the MSDs.

公开(公告)号：US20240227795A1

公开(公告)日：2024-07-11

申请号：US18562899

申请日：2021-05-25

Applicant: Volvo Truck Corporation

Inventor： Yangyan GAO ,  Leon HENDERSON ,  Timothy GORDON ,  Shammi RAHMAN ,  Leo LAINE

IPC: B60W30/12 ,  B60W30/045

CPC classification number: B60W30/12 ,  B60W30/045 ,  B60W2300/125 ,  B60W2520/125 ,  B60W2552/30

Abstract: A method for controlling a heavy-duty vehicle to follow a reference path, the method including obtaining the reference path to be followed by the vehicle, determining a goal point along the path to be steered towards from a vehicle location in vicinity of the path, where the goal point is distanced along the path by a preview distance measured from a reference location associated with the vehicle location, where the preview distance is determined at least partly based on a lateral deviation of the vehicle location from the reference path, such that the preview distance increases with an increasing lateral deviation from the reference path, and decreases with a decreasing lateral deviation, and controlling the vehicle towards the goal point.