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1. 发明授权

US12051284B2 Vehicle control architecture based on central coordination of locally applied and updatable motion support device abstractions 有权
公开(公告)号：US12051284B2
公开(公告)日：2024-07-30
申请号：US17459484
申请日：2021-08-27
申请人： VOLVO TRUCK CORPORATION
发明人： Ulf Stenbratt , Leo Laine , Peter Hansson , Lance Higgins , Anders Magnusson
IPC分类号： G07C5/00 , B60T17/22
CPC分类号： G07C5/008 , B60T17/221 , B60T2210/30 , B60T2240/03
摘要： 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.

2. 发明授权

US11926326B2 System and a method for controlling wheel slip of a vehicle 有权
公开(公告)号：US11926326B2
公开(公告)日：2024-03-12
申请号：US17454165
申请日：2021-11-09
申请人： VOLVO TRUCK CORPORATION
发明人： Adithya Arikere , Leo Laine , Leon Henderson , Sidhant Ray
IPC分类号： B60W30/18 , B60W10/08 , B60W10/18 , B60W50/00
CPC分类号： B60W30/18172 , B60W10/08 , B60W10/18 , B60W50/00 , B60W2050/0026 , B60W2520/105 , B60W2520/125 , B60W2520/266 , B60W2530/20 , B60W2720/10 , B60W2720/12 , B60W2720/266 , B60W2720/406
摘要： A system and to a method executed in a vehicle control unit for controlling wheel slip of a vehicle, wherein the vehicle comprises at least two wheels driven by at least primary actuator via an open differential. The primary actuator is controlled to rotate at a speed resulting in a slip λem of the primary actuator. A signed wheel slip limit λlim is determined by adding a configurable value to the slip λem of the primary actuator, such that λlim>λem. The at least two wheels are controlled to rotate at wheel speeds resulting in respective wheel slips λl, λr below the signed wheel slip limit λlim, wherein each one of λl, λr and λem are signed numerical values.

3. 发明授权

US11691609B2 Redundant motion control for a vehicle with a redundant braking arrangement 有权
公开(公告)号：US11691609B2
公开(公告)日：2023-07-04
申请号：US17052329
申请日：2018-05-03
申请人： Volvo Truck Corporation
发明人： Leo Laine , Lionel Farres , Christian Oscarsson , Leon Henderson , Johanna Majqvist , Jose Vilca , Kristoffer Tagesson , Karthik Ramanan Vaidyanathan , Nicolas Soulier
IPC分类号： B60T13/68 , B60T8/32 , B60T8/88 , B60T15/02 , B60T17/22 , B60T7/04 , B60T7/08 , B60T7/22
CPC分类号： B60T13/683 , B60T8/321 , B60T8/88 , B60T15/027 , B60T17/221 , B60T7/042 , B60T7/085 , B60T7/22 , B60T2201/022 , B60T2240/00 , B60T2270/402 , B60T2270/413
摘要： 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.

4. 发明申请

US20220402498A1 ON-BOARD ROAD FRICTION ESTIMATION 有权
公开(公告)号：US20220402498A1
公开(公告)日：2022-12-22
申请号：US17777752
申请日：2019-12-10
申请人： Volvo Truck Corporation
发明人： Mats Jonasson , Leo Laine , Leon Henderson
IPC分类号： B60W40/068 , B60W60/00
摘要： A road friction coefficient of a vehicle is estimated by obtaining substantially contemporaneous values associated with a steering angle for a steered axle of the vehicle, a lateral acceleration, a yaw acceleration, an alignment torque and an axle load on the steered axle; estimating a lateral tire force on the basis of the steering angle, lateral acceleration, and yaw acceleration; deriving a pneumatic trail from the alignment torque and estimated lateral tyre force; and estimating a road friction coefficient from the lateral tire force, the axle load, and the pneumatic trail. In embodiments, the derivation of the road friction coefficient includes evaluating a nonlinear function of the pneumatic trail.

5. 发明授权

US10974705B2 Wheel controller for a vehicle 有权
公开(公告)号：US10974705B2
公开(公告)日：2021-04-13
申请号：US16310100
申请日：2016-06-15
申请人： Volvo Truck Corporation
发明人： Leo Laine , Leon Henderson , Mats Sabelström
IPC分类号： B60T8/17 , B60T8/172 , B60T8/1761
摘要： The present invention relates to a wheel controller (108) for a vehicle (100), comprising a wheel slip calculation module (212) arranged to calculate a longitudinal wheel slip value for a wheel slip between a surface of the wheel (102) and a road surface thereof; a wheel force estimation module (214) arranged to estimate a longitudinal wheel force value for a wheel force between the surface of the wheel (102) and the road surface; a tire model generator (216) arranged to receive longitudinal wheel slip values from the wheel slip calculation module (212) and longitudinal wheel force values from the wheel force estimation module (214); said tire model generator (216) being configured to generate a model (300, 400) representing a relationship between the calculated longitudinal wheel slip and the estimated longitudinal wheel force by using at least three longitudinal wheel force values and three corresponding longitudinal wheel slip values; and a vehicle wheel capability module (218) arranged in communication with the tire model generator (216), said vehicle wheel capability module (218) being configured to determine an absolute maximum wheel friction level between the surface of the wheel (102) and the road surface thereof by means of acquiring, for a calculated wheel slip value, a longitudinal wheel force value from the model (300, 400) of the tire model generator.

6. 发明申请

US20210078556A1 REDUNDANT MOTION CONTROL FOR A VEHICLE WITH A REDUNDANT BRAKING ARRANGEMENT 有权
公开(公告)号：US20210078556A1
公开(公告)日：2021-03-18
申请号：US17052329
申请日：2018-05-03
申请人： Volvo Truck Corporation
发明人： Leo Laine , Lionel Farres , Christian Oscarsson , Leon Henderson , Johanna Majqvist , Jose Vilca , Kristoffer Tagesson , Karthik Ramanan Vaidyanathan , Nicolas Soulier
IPC分类号： B60T13/68 , B60T17/22 , B60T8/32 , B60T15/02 , B60T8/88
摘要： 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.

7. 发明公开

US20240101099A1 METHOD OF CONTROLLING OPERATION OF AN ARTICULATED VEHICLE COMBINATION 审中-公开
公开(公告)号：US20240101099A1
公开(公告)日：2024-03-28
申请号：US18039518
申请日：2020-12-07
申请人： Volvo Truck Corporation
发明人： Leo Laine , Mats Jonasson
IPC分类号： B60W20/10 , B60W30/02
CPC分类号： B60W20/10 , B60W30/02 , B60W2520/22 , B60W2720/40
摘要： The present disclosure relates to a method of controlling operation of an articulated vehicle combination (AVC), the AVC comprising a tractor unit comprising a primary prime mover for propulsion of the AVC, a first trailer unit coupled to the tractor unit by a first articulated coupling, a dolly comprising a secondary prime mover, the dolly being coupled to the first trailer unit by a second articulated coupling, and a second trailer unit coupled to the dolly by a third articulated coupling, the method comprising determining at least one property indicative of a stability of the AVC; comparing the property with a predetermined property specific range; and controlling the secondary prime mover to generate a propulsion torque for the AVC when the property is within the predetermined property specific range.

8. 发明授权

US11840275B2 Method for steering an articulated vehicle 有权
公开(公告)号：US11840275B2
公开(公告)日：2023-12-12
申请号：US16633405
申请日：2018-08-24
申请人： VOLVO TRUCK CORPORATION
发明人： Peter Nilsson , Leo Laine
IPC分类号： B62D15/02 , B62D13/00
CPC分类号： B62D15/025 , B62D13/00
摘要： A method for steering an articulated vehicle traveling on a road, the vehicle comprising a tractor and a trailer, the method comprising determining a position of the tractor in relation to the road, and adjusting the steering in dependence on the determined tractor position. The method further comprises determining an orientation of the trailer in relation to the road, and/or an angular velocity of the trailer in relation to the road, and adjusting the steering in dependence on the determined trailer orientation and/or the determined angular velocity.

9. 发明授权

US11834034B2 Control unit and a method for determining a value indicative of a load bearing capability of a ground segment supporting a vehicle 有权
公开(公告)号：US11834034B2
公开(公告)日：2023-12-05
申请号：US17599077
申请日：2019-04-05
申请人： Volvo Truck Corporation
发明人： Leo Laine , Mats Jonasson
IPC分类号： B60W30/02 , B60C23/00 , B60G17/0195
CPC分类号： B60W30/02 , B60C23/002 , B60G17/0195 , B60G2300/026 , B60G2400/0511 , B60G2400/0512 , B60G2400/0521 , B60G2400/0522 , B60G2400/102 , B60G2400/52 , B60G2400/64 , B60G2400/822 , B60G2500/32 , B60W2300/125 , B60W2520/16 , B60W2520/18 , B60W2530/10 , B60W2552/40 , B60W2710/223 , B60W2720/10 , B60W2720/30
摘要： The present invention relates to a control unit for determining a value indicative of a load bearing capability of a ground segment supporting a vehicle. The control unit is configured to issue a control signal to the vehicle to thereby impart a motion change of the vehicle, and receive response information from the vehicle indicative of the vehicle's response to the imparted motion change. The control unit is further configured to, based on the response information, determine a vertical position change of at least one wheel of the vehicle, and based on the determined vertical position change and the imparted motion change, determine the value indicative of the load bearing capability of the ground segment.

10. 发明授权

US11794747B2 Method for controlling an actuator of a vehicle 有权
公开(公告)号：US11794747B2
公开(公告)日：2023-10-24
申请号：US17516783
申请日：2021-11-02
申请人： Volvo Truck Corporation
发明人： Adithya Arikere , Leo Laine , Ray Sidhant , Leon Henderson , Mattias Åsbogård , Johan Lindberg
IPC分类号： B60W40/105 , B60W30/18 , B62D15/02
CPC分类号： B60W30/18172 , B60W40/105 , B62D15/021 , B60W2520/28 , B60W2520/40
摘要： The present disclosure relates to a method for controlling at least one actuator of a vehicle, the actuator being configured to apply a torque on at least one wheel of the vehicle, wherein the applied torque is determined by a control function associated with a control bandwidth, the method comprising configuring the control function to control the applied torque to reduce a difference between a first parameter value related to a current rotational speed of the wheel and a second parameter value related to target rotational speed of the wheel; obtaining data indicative of a current operating condition of the vehicle; setting the control bandwidth of the control function in dependence of the current operating condition of the vehicle; and controlling the actuator using the control function.

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