公开(公告)号：WO2016192806A1

公开(公告)日：2016-12-08

申请号：PCT/EP2015/062545

申请日：2015-06-05

Applicant: VOLVO TRUCK CORPORATION

Inventor： TAGESSON, Kristoffer

IPC: B60T8/1755 ,  B60T8/1764

CPC classification number: B60T8/1764 ,  B60T8/1755 ,  B60T2210/36 ,  B60T2220/02 ,  B60T2260/024

Abstract: The invention relates to a method for controlling a driver assistance system (200). The invention also relates to a corresponding driver assistance system (200) and a computer program product.

Abstract translation: 本发明涉及一种用于控制驾驶员辅助系统（200）的方法。 本发明还涉及相应的驾驶员辅助系统（200）和计算机程序产品。

公开(公告)号：WO2019210964A1

公开(公告)日：2019-11-07

申请号：PCT/EP2018/061412

申请日：2018-05-03

Applicant: VOLVO TRUCK CORPORATION

Inventor： LAINE, Leo ,  FARRES, Lionel ,  OSCARSSON, Christian ,  HENDERSON, Leon ,  MAJQVIST, Johanna ,  VILCA, Jose ,  TAGESSON, Kristoffer ,  VAIDYANATHAN, Karthik Ramanan ,  SOULIER, Nicolas

IPC: B60T13/68 ,  B60T8/32

Abstract: A control arrangement for a vehicle motion system including a braking function, comprising motion actuators with one or more brake actuators pertaining to the braking function, a first vehicle motion management controller (VMM1) and a second vehicle motion management controller (VMM2), forming a redundant assembly to control the braking function, wherein, in riding conditions, the first vehicle motion management controller controls the brake actuators with a current nominal expected braking performance, while the second vehicle motion management controller (VMM2) is in a waiting-to-operate mode, the control arrangement comprising a hot swap functionality in which the second vehicle motion management controller (VMM2) is configured to take over control of the brake actuators from the first vehicle motion management controller, with the current nominal expected braking performance, in a short time period (SWT) less than one second, preferably less than 0,5 second, preferably less than 0,3 second, and associated control method.

公开(公告)号：WO2019201807A1

公开(公告)日：2019-10-24

申请号：PCT/EP2019/059547

申请日：2019-04-12

Applicant: VOLVO TRUCK CORPORATION

Inventor： TAGESSON, Kristoffer ,  RÖDJEDAL, Staffan

IPC: B62D13/06

Abstract: The disclosure relates to a method for reversing a vehicle combination (1) comprising a towing vehicle (10) and at least one trailer (20), said method comprising: (S10) reversing the vehicle combination, (S20) determining whether a jack-knifing condition (J) is about to occur by comparing a predicted future estimate of the articulation angle (Φ) with a maximum safe articulation angle (Φ lim ), wherein the maximum safe articulation angle (Φ lim ) is estimated according to the first aspect of the invention, and when it is determined that the jack-knifing condition (J) is about to occur, perform at least one of the following steps: (S30) issue a warning signal, and (S40) initiate a braking action for the vehicle combination, wherein the predicted future estimate of the articulation angle (Φ) is based on an estimated driver reaction time for initiating a braking action.

公开(公告)号：WO2019201410A1

公开(公告)日：2019-10-24

申请号：PCT/EP2018/025117

申请日：2018-04-16

Applicant: VOLVO TRUCK CORPORATION

Inventor： TAGESSON, Kristoffer ,  RÖDJEDAL, Staffan

IPC: B62D3/06

Abstract: The disclosure relates to a method for estimating a maximum safe articulation angle (Φlim) to be used in reversing of a vehicle combination (1) comprising a towing vehicle (10) and at least one trailer (20), said method comprising: S1) providing a preset maximum safe articulation angle (Φlim) for the towing vehicle (10) or the vehicle combination (1), S2) receiving a signal being indicative of an articulation angle (Φ) of the vehicle combination (1) during forward driving of the vehicle combination (1), and S3) updating the maximum safe articulation angle (Φlim) when the articulation angle (Φ) of the vehicle combination (1) during forward driving is larger than the preset maximum safe articulation angle (Φlim). The disclosure also relates to a method for reversing a vehicle combination (10), to a control unit (11), to a towing vehicle (10), to a computer program and to a computer readable medium.

公开(公告)号：WO2023030615A1

公开(公告)日：2023-03-09

申请号：PCT/EP2021/074061

申请日：2021-08-31

Applicant: VOLVO TRUCK CORPORATION

Inventor： TAGESSON, Kristoffer ,  SVENSSON, Jan-Inge

IPC: B62D15/02

Abstract: A control system (130, 140) for autonomous drive of a heavy-duty vehicle (100), comprising an autonomous drive, AD, controller (270) configured with a trajectory tracking function (271) arranged to track a desired vehicle trajectory, and a first vehicle model (272) arranged to model a response by the vehicle (100) to a requested steering angle, where the AD controller (270) is arranged to generate a steering angle request (275) based on the desired vehicle trajectory and on the first vehicle model (272), the control system (130, 140) further comprising a vehicle motion management, VMM, function (260) arranged to receive the steering angle request (272) from the AD controller (270), where the VMM function (260) comprises a second vehicle model (261) configured to be aligned with the first vehicle model (272), where the VMM function (260) is arranged to obtain a desired vehicle behavior based on a response of the second vehicle model (261) to the steering angle request (275), where the VMM function (260) is arranged to determine motion support device control set points (265) in dependence of the desired vehicle behavior.

公开(公告)号：WO2020244738A1

公开(公告)日：2020-12-10

申请号：PCT/EP2019/064406

申请日：2019-06-04

Applicant: VOLVO TRUCK CORPORATION

Inventor： TAGESSON, Kristoffer ,  HAGERSKANS, Jonas ,  BANDI, Vinzenz

IPC: B60W50/023 ,  B60W30/10 ,  B60W30/14 ,  B60W10/04 ,  B60W10/18 ,  B60W10/184 ,  B60W10/20 ,  G05D1/00

Abstract: The present disclosure relates to an autonomous vehicle control system (100) for providing motion control of an autonomous vehicle (200), comprising: - a primary control unit (10) configured to perform longitudinal and lateral motion control of the vehicle during normal operation, - a secondary back-up control unit (20) configured to perform back-up longitudinal motion control when an emergency mode has been enabled, wherein the primary control unit is further configured to perform back-up lateral motion control when the emergency mode has been enabled. The invention further relates to a method for providing motion control of an autonomous vehicle and to an autonomous vehicle.

公开(公告)号：WO2014092611A1

公开(公告)日：2014-06-19

申请号：PCT/SE2012/000199

申请日：2012-12-10

Applicant: VOLVO TRUCK CORPORATION

Inventor： HOEL, Carl-Johan ,  TAGESSON, Kristoffer

IPC: B62D13/06 ,  B62D15/02

CPC classification number: B62D13/06 ,  B60T8/1708 ,  B60T2230/06 ,  B60W30/00 ,  B62D15/0295

Abstract: A method for determining a maximum speed limit for a reversing vehicle combination comprising a towing vehicle and at least one towed trailer, comprising the steps of determining a manoeuvre that is to be performed by the vehicle combination, simulating the complete manoeuvre in advance by using a control algorithm and a state space model, thereby obtaining the steering behaviour of the vehicle combination during the manoeuvre, and calculating the maximum speed limit for the vehicle combination during the manoeuvre by using at least one predefined limiting condition. The advantage of the invention is that a maximum speed limit for a reverse assistance function can be estimated in advance, which allows for a faster and more efficient reversing of the vehicle combination, and at the same time allows for an improved comfort for the driver.

Abstract translation: 一种用于确定包括牵引车辆和至少一个牵引拖车的反向车辆组合的最大速度限制的方法，包括以下步骤：确定将由所述车辆组合执行的操纵，通过使用以下方式预先模拟完全机动： 控制算法和状态空间模型，由此在操纵期间获得车辆组合的转向行为，并且通过使用至少一个预定义的限制条件来计算在操纵期间车辆组合的最大速度极限。 本发明的优点是可以预先估计反向辅助功能的最大速度限制，这允许更快更有效地反转车辆组合，并且同时允许驾驶员改善舒适度。

公开(公告)号：WO2020052764A1

公开(公告)日：2020-03-19

申请号：PCT/EP2018/074766

申请日：2018-09-13

Applicant: VOLVO TRUCK CORPORATION

Inventor： TAGESSON, Kristoffer ,  HENDERSON, Leon

IPC: B60T13/58 ,  B60L7/10 ,  B60L7/24 ,  B60W30/18

Abstract: The invention relates to a method of operating a vehicle (1) comprising at least a first vehicle retarding subsystem (3; 5; 13) controllable to retard the vehicle (1), and processing circuitry (15) coupled to the at least first vehicle retarding subsystem (3; 5; 13), the method comprising the steps of: acquiring (S10), by the processing circuitry (15) from the first vehicle retarding subsystem (3; 5; 13), at least one value indicative of current energy accumulation by the first vehicle retarding subsystem (3; 5; 13); and determining (S11), by the processing circuitry (15), a measure indicative of a retardation energy capacity currently available for retardation of the vehicle (1), based on: the acquired at least one value indicative of current energy accumulation by the first vehicle retarding subsystem (3; 5; 13); a predefined model of retardation energy accumulation by the first vehicle retarding subsystem (3; 5; 13); and a predefined limit indicative of a maximum allowed energy accumulation by the first vehicle retarding subsystem (3; 5; 13).

公开(公告)号：WO2020001736A1

公开(公告)日：2020-01-02

申请号：PCT/EP2018/066979

申请日：2018-06-25

Applicant: VOLVO TRUCK CORPORATION

Inventor： LAINE, Leo ,  SVENSSON, Jan-Inge ,  FARRES, Lionel ,  OSCARSSON, Christian ,  HENDERSON, Leon ,  VILCA, Jose ,  TAGESSON, Kristoffer ,  MAJQVIST, Johanna

IPC: B62D5/04 ,  B62D5/00

Abstract: The invention relates to a steering assembly (12) for a vehicle (10). The steering assembly (12) comprises a first steering actuator (14) and a second steering actuator (16). The first steering actuator (14) is adapted to be actuated in accordance with at least one signal issued from a motion control system (18) to control a steering angle of at least one steerable ground engaging member (20, 22) of the vehicle (10) to thereby control the steering of the vehicle (10). The first steering actuator (14) is associated with a first nominal steering capability, defining at least one limitation of at least one of the following: steering angle, steering angle rate and steering torque, for the at least one steerable ground engaging member (20, 22). The second steering actuator (16) is adapted to be actuated in accordance with at least one signal issued from the motion control system (18) to control the steering angle of the at least one steerable ground engaging member (20, 22) of the vehicle (10) to thereby control the steering of the vehicle (10). The second steering actuator (16) is associated with a second nominal steering capability, defining at least one limitation of at least one of the following: steering angle, steering angle rate and steering torque, for the at least one steerable ground engaging member (20, 22). The motion control system (18) is adapted to, upon detection of a malfunction associated with the first steering actuator (14), associate the second steering actuator (16) with a second enhanced steering capability instead of the second nominal steering capability. The second enhanced steering capability is different from the second nominal steering capability.

公开(公告)号：WO2018041328A1

公开(公告)日：2018-03-08

申请号：PCT/EP2016/070314

申请日：2016-08-29

Applicant: VOLVO TRUCK CORPORATION

Inventor： TAGESSON, Kristoffer

IPC: B60T8/34 ,  B60G5/00

Abstract: The invention i.a. relates to a load transfer arrangement (10) for a vehicle (12) including a chassis (14) with at least one braked axle (16), the arrangement (10) comprising: a non-driven load axle (18), and an air suspension assembly (20) including at least one air cushion (22) arranged between the chassis (14) and the non-driven load axle (18) in order to transfer load from the braked axle(s) (16) to the non-driven load axle (18), wherein the non-driven load axle (18) is unbraked, and wherein the arrangement (10) further comprises: an evacuation controller (24) configured to provide a pressure release trigger in response to a current or predicted braking event of the vehicle (12), and at least one evacuation valve (26) configured to, in response to receiving the pressure release trigger, evacuate pressure from the at least one air cushion (22) in order to remove load from the non-driven load axle (18) and increase load on the braked axle(s) (16).

Abstract translation:

发明i.a. 涉及一种用于包括具有至少一个制动轴（16）的底盘（14）的车辆（12）的负载传递装置（10），所述装置（10）包括：非驱动负载轴（18） 空气悬架组件20包括布置在底盘14和非驱动负载轴18之间的至少一个气垫22，以将负载从制动轴16传递到非驱动负载轴18。 （18），其中所述非驱动负载轴（18）是未制动的，并且其中所述装置（10）还包括：排空控制器（24），配置为响应于电流提供压力释放触发器，或者 预测的车辆（12）的制动事件以及至少一个排气阀（26），所述至少一个排气阀（26）构造成响应于接收到所述压力释放触发器而从所述至少一个气垫（22）排空压力以便从所述车辆 非驱动负载轴（18），并增加制动轴（16）上的负载。