公开(公告)号：US20230063613A1

公开(公告)日：2023-03-02

申请号：US17817560

申请日：2022-08-04

Applicant: VOLVO TRUCK CORPORATION

Inventor： Yangyan GAO ,  Leon HENDERSON ,  Timothy GORDON

IPC: B60W30/18 ,  B60W60/00 ,  B60W50/14

Abstract: A computer-implemented method performed in a vehicle control unit for controlling motion of a heavy-duty vehicle. The method includes obtaining a vehicle motion request, wherein the vehicle motion request is indicative of a target curvature and a target acceleration, determining a motion support device, MSD, control allocation based on the vehicle motion request, determining a dynamic wheel slip angle limit based on the vehicle motion request, where dynamic wheel slip angle limit increases with a decreasing target acceleration, and controlling the motion of the heavy-duty vehicle based on the MSD control allocation constrained by the dynamic wheel slip angle limit.

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.

公开(公告)号：US20240182019A1

公开(公告)日：2024-06-06

申请号：US18287496

申请日：2021-04-26

Applicant: Volvo Truck Corporation

Inventor： Yangyan GAO ,  Leon HENDERSON ,  Jakub PROKES

IPC: B60W30/045 ,  B60T8/1755 ,  B60W30/18

CPC classification number: B60W30/045 ,  B60T8/17552 ,  B60W30/18145 ,  B60T2201/16 ,  B60W2300/125 ,  B60W2552/30 ,  B60W2720/26 ,  B60W2720/30

Abstract: A computer-implemented method performed in a vehicle control unit for controlling motion of a heavy-duty vehicle, the method comprising obtaining a vehicle motion request, wherein the vehicle motion request is indicative of a target curvature creq and a target acceleration areq, determining a motion support device (MSD) control allocation (Ti/λi/ωi/δi) based on the vehicle motion request, determining a dynamic longitudinal wheel slip limit (λlim/ωlim) based on the vehicle motion request and separately from the MSD control allocation, where the dynamic longitudinal wheel slip limit increases with a decreasing target curvature, and controlling the motion of the heavy-duty vehicle based on the MSD control allocation constrained by the dynamic longitudinal wheel slip limit.

公开(公告)号：US20240278780A1

公开(公告)日：2024-08-22

申请号：US18435223

申请日：2024-02-07

Applicant: VOLVO TRUCK CORPORATION

Inventor： Yangyan GAO ,  Timothy GORDON ,  Shammi RAHMAN

IPC: B60W30/18

CPC classification number: B60W30/18 ,  B60W2520/10

Abstract: A method of selecting a location of a tracking point for a vehicle unit of a vehicle includes dynamically adapting the location of the tracking point based on a vehicle speed. In some examples, the location of the tracking point for a relatively high speed is located (along the vehicle unit) in front of the location of the tracking point for a relatively low speed. Also disclosed is a method of determining a reference location of the tracking point for a reference speed. The method comprises evaluating vehicle motion behavior for a plurality of candidate locations of the tracking point, and selecting one of the candidate locations as the reference location based on vehicle motion behavior metric values acquired through the evaluation.

公开(公告)号：US20230146431A1

公开(公告)日：2023-05-11

申请号：US17972782

申请日：2022-10-25

Applicant: Volvo Truck Corporation

Inventor： Timothy GORDON ,  Yangyan GAO

IPC: B60W30/02 ,  B60D1/32 ,  B60W10/30 ,  B60W10/18 ,  B60W10/08 ,  B60W10/20

CPC classification number: B60W30/02 ,  B60D1/32 ,  B60W10/30 ,  B60W10/18 ,  B60W10/08 ,  B60W10/20 ,  B60W2720/14 ,  B60W2300/14 ,  B60W2520/18 ,  B60W2520/14 ,  B60W2720/30 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2420/54

Abstract: A system for probing properties of a trailer towed by a towing vehicle in a heavy-duty vehicle combination. The system comprises at least one torque generating component for inducing movements of the trailer relative to a yaw axis of the trailer; a control unit configured to, during driving of the vehicle combination, activate the torque generating component and apply a pre-determined control action to the torque generating component so as to excite oscillations of the trailer; and at least one detection unit configured to detect the resulting oscillations of the trailer, wherein the control unit is configured to, based on the detected resulting oscillations, determine one or more properties of the trailer. The invention also relates to a probing method.