Actuating differential in vehicle

Abstract

The application relates to manipulating differentials in a vehicle, and particularly provides a computer system (900) including processing circuitry (902) configured to assist in manipulating a set of differentials (30) of a vehicle (1). The processing circuit (902) is configured to determine a longitudinal force required to drive the vehicle (1) in a driving direction (D). The processing circuit (902) is configured to predict a first longitudinal force of the vehicle (1) from a current configuration and to predict a second longitudinal force of the vehicle (1) using a differential locking configuration associated with locking or unlocking the set of differentials (30). The processing circuit (902) is configured to select one of the differential locking configurations for use by the vehicle (1) when the first longitudinal force is lower than the required longitudinal force, the selected differential locking configuration being associated with a second longitudinal force equal to or greater than the required longitudinal force.

Description

Technical Field

[0001] The present disclosure generally relates to traction management of a vehicle. In particular aspects, the present disclosure relates to manipulating a set of differentials in a vehicle. The present disclosure may be applicable to heavy vehicles such as trucks, buses, and construction equipment, as well as other vehicle types. Although the present disclosure may be described with respect to a particular vehicle, the present disclosure is not limited to any particular vehicle. Background Art

[0002] When one or more wheels of a vehicle slip, to increase traction, the differential can be locked so that the wheel speeds between the wheels and / or axles are synchronized. This allows for increased traction of the vehicle because more power can be used on the wheels with surface grip. However, always locking the differential can lead to severe tire wear and damage to driveline components. Locking the differential also affects lateral capabilities such as handling and / or steering the vehicle in a turn. Therefore, it is very important to lock the differential only when needed.

[0003] The driver typically controls differential lock and unlock via a switch on the dashboard. Locking and unlocking rely on the driver's experience and intuition, and thus are prone to human error. Locking and unlocking further have mechanical limitations, which means there is a time delay in locking if the wheels have already slipped.

[0004] Attempts have been made to implement automated differential manipulation, such as reactively locking the differential when associated wheel slip is detected. However, at this point the wheels have already started to slip, and it may take time and waste resources to obtain traction.

[0005] An alternative method of increasing traction is to control wheel slip by braking one of the spinning wheels or reducing the engine torque on the slipping wheels. However, this can lead to severe brake pad wear and energy loss.

[0006] Therefore, there is a need to further increase the traction of vehicles operating in areas with a high risk of wheel slip. Summary of the Invention

[0007] According to a first aspect of the present disclosure, there is provided a computer system including a processing circuit configured to assist in manipulating a set of differentials of a vehicle. The set of differentials can be lockable differentials.

[0008] The processing circuit is configured to obtain path information of a path that the vehicle has traveled or will travel. The path information indicates the friction and / or slope of a target area in the driving direction of the vehicle. The path information may additionally or alternatively further indicate curvature, such as the radius of an upcoming curvature in the target area.

[0009] The processing circuit is configured to obtain vehicle movement information of the vehicle. The vehicle movement information indicates a current vehicle speed of the vehicle.

[0010] The processing circuit is configured to obtain a reference vehicle movement of the target area. The reference vehicle movement indicates a reference vehicle speed of the target area.

[0011] The processing circuit is configured to predict an acceleration request to be executed by the vehicle in the target area based on the vehicle movement information and the reference vehicle movement.

[0012] The processing circuit is configured to determine a longitudinal force required to drive the vehicle in the driving direction based on the vehicle movement information, the path information, and a mass of the vehicle.

[0013] The processing circuit is configured to predict a first longitudinal force of the vehicle when the set of differentials is configured according to a current configuration based on the acceleration request, the path information, and the mass of the vehicle.

[0014] The processing circuit is further configured to predict one or more second longitudinal forces of the vehicle based on the acceleration request, the path information, and the mass of the vehicle, using one or more differential lock configurations associated with locking or unlocking one or more of the differentials in the set of differentials.

[0015] The processing circuit is configured to select a differential lock configuration from the one or more differential lock configurations for use by the vehicle when the first longitudinal force is lower than a required longitudinal force, the selected differential lock configuration being associated with a second longitudinal force equal to or greater than the required longitudinal force.

[0016] A first aspect of the present disclosure may seek to automatically select and evaluate a suitable differential lock configuration for driving a vehicle within a target area.

[0017] Technical benefits may include increased traction, enabling travel within the target area. This is because the selected differential lock configuration is associated with a second longitudinal force equal to or greater than the required longitudinal force, allowing the vehicle to be propelled within the target area without being trapped due to excessive wheel slip. Additionally, since the differential is only locked when predicted to be needed, excessive wear from premature locking of the differential can be reduced.

[0018] Optionally, in some examples, including in at least one preferred example, the processing circuit is configured to obtain at least a portion of the path information by sensing the path information using one or more sensors of the vehicle.

[0019] Technical benefits can include improving the accuracy of predicting associated longitudinal forces based on path information, leading to an improved selection of the most suitable differential lock configuration.

[0020] Optionally, in some examples, including in at least one preferred example, the processing circuit is configured to obtain at least a portion of the path information by obtaining the path information from a storage medium and / or a server.

[0021] Technical benefits can include improving the accuracy of predicting associated longitudinal forces based on path information, leading to an improved selection of the most suitable differential lock configuration.

[0022] Optionally, in some examples, including in at least one preferred example, the path information is at least partially based on measurements of one or more measurement vehicles that have previously traversed the target area.

[0023] Technical benefits can include improving the accuracy of predicting associated longitudinal forces based on path information, leading to an improved selection of the most suitable differential lock configuration.

[0024] Optionally, in some examples, including in at least one preferred example, the processing circuit is configured to predict the acceleration request of the vehicle in the target area based on the path information and based on a predefined driver model indicating the timing and / or magnitude of the acceleration request.

[0025] Technical benefits can include improving the accuracy of predicting associated longitudinal forces based on an acceleration request, leading to an improved selection of the most suitable differential lock configuration.

[0026] Optionally, in some examples, including in at least one preferred example, any one or more of the required longitudinal force, the first longitudinal force, and / or the one or more second longitudinal forces are limited based on the force generation capability of the vehicle's powertrain.

[0027] Technical benefits can include an improved selection of the most suitable differential lock configuration. This is because the associated longitudinal forces are not overestimated, and furthermore, this enables checking the possibility of meeting the longitudinal force with the current force generation capability of the powertrain.

[0028] Optionally, in some examples, including in at least one preferred example, the processing circuit is configured to predict one or more vertical loads applied to one or more axles and / or one or more wheels of the vehicle based on the path information. In these examples, the processing circuit is further configured to predict the first longitudinal force and / or the one or more second longitudinal forces based on the predicted vertical loads.

[0029] Technical benefits may include improving the selection of the most suitable differential lock configuration. This is because the first longitudinal force and / or one or more second longitudinal forces can be predicted more accurately.

[0030] Optionally, in some examples, including in at least one preferred example, the one or more differential lock configurations include locking the inter-axle differential in the set of differentials. Additionally or alternatively, the one or more differential lock configurations include locking the inter-axle differential in the set of differentials.

[0031] The technical benefit is improving the selection of the most suitable differential lock configuration, because there are more options available to meet the required longitudinal forces.

[0032] Optionally, in some examples, including in at least one preferred example, the processing circuit is configured to apply the selected differential lock configuration before reaching the target area.

[0033] Technical benefits may include increasing traction and enabling the vehicle to be driven in the target area.

[0034] Optionally, in some examples, including in at least one preferred example, the processing circuit is configured to determine the steering ability of the vehicle when using the selected differential lock configuration in the target area. In these examples, the processing circuit is configured to estimate the steering compensation required to maintain the vehicle's trajectory and / or keep the vehicle within the boundaries of the target area based on the path information and the steering ability. The boundaries of the target area may be geographical boundaries and / or size boundaries of the road or driving area in the target area. In these examples, the processing circuit is configured to determine whether to apply the selected differential lock configuration before reaching the target area based on the estimated required steering compensation.

[0035] Technical benefits may include increased safety in response to selecting a differential lock configuration that is not possible for driving in the target area. The driver can select another configuration or can initiate a new prediction of another differential lock configuration to improve traction in the target area.

[0036] According to a second aspect of the present disclosure, there is provided a vehicle including a set of differentials. The vehicle includes the computer system according to the first aspect.

[0037] Optionally, in some examples, including in at least one preferred example, the set of differentials includes at least one inter-wheel differential, or a combination of at least one inter-axle differential and at least two inter-wheel differentials.

[0038] According to a third aspect of the present disclosure, a computer-implemented method for assisting in maneuvering a set of differentials of a vehicle is provided.

[0039] The method includes: obtaining, by a processing circuit of a computer system, path information of a path that the vehicle has traveled or will travel. The path information indicates the friction and / or slope of a target area in the driving direction of the vehicle. The path information may additionally or alternatively further indicate curvature, such as the radius of an upcoming curvature in the target area.

[0040] The method includes: obtaining, by the processing circuit, vehicle motion information of the vehicle. The vehicle motion information indicates the current vehicle speed of the vehicle.

[0041] The method includes: obtaining, by the processing circuit, a reference vehicle motion of the target area. The reference vehicle motion indicates a reference vehicle speed of the target area.

[0042] The method includes: predicting, by the processing circuit, an acceleration request to be executed by the vehicle in the target area based on the vehicle motion information and the reference vehicle motion.

[0043] The method includes: determining, by the processing circuit, a longitudinal force required to drive the vehicle in the driving direction based on the vehicle motion information, the path information, and the mass of the vehicle.

[0044] The method includes: predicting, by the processing circuit, a first longitudinal force of the vehicle when the set of differentials is configured according to the current configuration based on the acceleration request, the path information, and the mass of the vehicle.

[0045] The method includes: predicting one or more second longitudinal forces of the vehicle using one or more differential lock configurations associated with locking or unlocking one or more differentials in the set of differentials.

[0046] The method includes: selecting, by the processing circuit, a differential lock configuration in the one or more differential lock configurations for use by the vehicle when the first longitudinal force does not meet the required longitudinal force, and the selected differential lock configuration is associated with a second longitudinal force equal to or greater than the required longitudinal force.

[0047] Optionally, in some examples, including in at least one preferred example, the method includes predicting, by a processing circuit, one or more vertical loads applied to one or more axles and / or one or more wheels of the vehicle based on path information, and predicting the first longitudinal force and / or the one or more second longitudinal forces by the processing circuit based on the predicted vertical loads.

[0048] Optionally, in some examples, including in at least one preferred example, the method includes: determining, by a processing circuit, a steering ability of the vehicle when using a selected differential lock configuration in the target area; and estimating, by the processing circuit, a steering compensation required to maintain the vehicle trajectory and / or keep the vehicle within the boundaries of the target area based on the path information and the steering ability; and determining, by the processing circuit, whether to apply the selected differential lock configuration before reaching the target area based on the estimated required steering compensation.

[0049] Optionally, in some examples, including in at least one preferred example, the method includes: applying, by a processing circuit, the selected differential lock configuration before reaching the target area.

[0050] Optionally, in some examples, including in at least one preferred example, the one or more differential lock configurations include locking an inter-wheel differential in the set of differentials, and / or wherein the one or more differential lock configurations include locking an inter-axle differential in the set of differentials.

[0051] Optionally, in some examples, including in at least one preferred example, the method includes: the path information is at least partially based on measurements of one or more measurement vehicles that have previously traversed the target area.

[0052] The technical benefits of the second aspect and / or the third aspect correspond to those of the first aspect, and vice versa.

[0053] Those of ordinary skill in the art will appreciate that the disclosed aspects, examples (including any preferred examples), and / or the appended claims may be appropriately combined with each other. Additional features and advantages are disclosed in the following description, claims, and drawings, and will be in part apparent to those of skill in the art or will be recognized by practicing the present disclosure as described herein.

[0054] Also disclosed herein are computer systems, control units, code modules, computer-implemented methods, computer-readable media, and computer program products associated with the technical benefits discussed above. Description of the Drawings

[0055] Figure 1 An exemplary path and vehicle according to an example are shown.

[0056] Figure 2 Is a flowchart of a method according to an example.

[0057] Figures 3a to 3b An exemplary scenario according to an example herein is shown.

[0058] Figure 4 Shows an exemplary scenario according to an example herein.

[0059] Figure 5 Shows an exemplary prediction model according to an example herein.

[0060] Figure 6 Shows an exemplary scenario according to an example herein.

[0061] Figure 7 Is a flowchart of a method according to an example.

[0062] Figure 8 Is according to an example Figure 1 Another view of.

[0063] Figure 9 Is a schematic diagram of an exemplary computer system for implementing the examples disclosed herein according to an example. Detailed Description

[0064] The detailed description set forth below provides information and examples of the disclosed technology in sufficient detail to enable those skilled in the art to practice the disclosure.

[0065] Relying on the driver to lock the differential can lead to errors, which can cause excessive wear of components, and there is a risk of using an incorrect locking configuration. If the friction is too low to lock the differential when wheel slip has already occurred, this can cause the vehicle to become stuck. Similar problems occur when relying on a reactive system to lock the differential when the wheels have already slipped and spun.

[0066] Thus, examples herein can relate to predicting how a vehicle will behave under different differential locking configurations and selecting a configuration that predicts allowing the vehicle to travel in a target area.

[0067] Figure 1 Shows vehicle 1 and path 100 according to an example. Path 100 can generally be a road, but can also be any off-road path in which vehicle 1 is arranged to travel.

[0068] Vehicle 1 is arranged to travel along path 100, i.e., in the driving direction D towards target area 50.

[0069] For examples herein, target area 50 can include a surface area having low friction (e.g., below a threshold), or having one or more slopes that increase by more than a set angle in target area 50.

[0070] Target area 50 can have a separated surface such that the friction on the right and left sides of vehicle 1 is different.

[0071] Vehicle 1 can be any suitable vehicle, such as a sedan, a bus, a truck, or any other heavy vehicle.

[0072] Vehicle 1 can have two or more axles, in any suitable configuration.

[0073] Figure 1 Vehicle 1 in shows a scenario where Vehicle 1 has three axles (e.g., a first axle 11, a second axle 12, and a third axle 13), which are connected to associated wheels (e.g., a left front wheel FL, a right front wheel FR, a first left rear wheel BL1, a first right rear wheel BR1, a second left rear wheel BL2, and a second right rear wheel BR2).

[0074] The second axle 12 and the third axle 13 can be drive axles, for example driven by a powertrain 40 using a driveline 15 to transfer torque from the powertrain 40 to the second axle 12 and the third axle 13.

[0075] Vehicle 1 includes a set of differentials 30, which can be used to lock the wheels and / or axles of Vehicle 1 such that they are speed synchronized and provide better traction when locked. As Figure 1 a non - limiting example shown, the set of differentials can be coupled to the second axle 12, the third axle 13, and the driveline 15 such that an inter - axle differential can lock the second axle 12 and the third axle 13 such that they receive the same rotational speed from the driveline 15. In other words, inter - axle as used herein can mean that two or more axles are locked to have the same rotational speed, i.e., receive the same rotation from the driveline 15. Additionally, one inter - wheel differential can lock the wheels of the second axle 12, and another inter - wheel differential can lock the wheels of the third axle 13.

[0076] In the examples herein, the term "differential" can refer to a differential having a locking device or a lockable differential, e.g., a differential associated with a clutch or a coupling for locking the differential.

[0077] As an example, the set of differentials 30 can include at least one inter - wheel differential, or a combination of at least one inter - axle differential and at least two inter - wheel differentials.

[0078] The set of differentials 30 can be locked according to one or more of the locking configurations discussed in the examples herein.

[0079] The locking of the set of differentials 30 can be in a natural order, i.e., first lock the inter - axle differential (if applicable), and then lock one or more inter - wheel differentials.

[0080] The locking of the set of differentials 30 can be further naturally sorted according to the amount of increasing longitudinal force, for example, further based on vehicle movement and mass. Full unlocking, for example, the current configuration can generate a first longitudinal force, and different combinations of locking the set of differentials 30 can increase the longitudinal force, such as generating one or more second longitudinal forces in one or more differential locking configurations, which can all be equal to or greater than the first longitudinal force.

[0081] The first longitudinal force can be, for example, a force acting on the vehicle 1 in the driving direction D.

[0082] The vehicle 1 is typically driven by a user, but can also be autonomous or at least partially autonomous, i.e., at least some of the driving operations are automated.

[0083] The vehicle 1 can include one or more sensors 20. The one or more sensors 20 can include any suitable sensors for measuring path information of the path 100 or information for deriving path information or any other suitable information exemplified herein, such as any one or more of a slope, friction, surface type, weather, environmental information, and / or shape.

[0084] The one or more sensors 20 can include any one or more of the following: - One or more cameras, and - One or more light detection and ranging (lidar) sensors.

[0085] The examples herein can be executed by a computer system 900 and / or by processing circuitry 902 therein.

[0086] The computer system 900 and / or the processing circuitry 902 therein can be a processor and / or an electronic control unit (ECU).

[0087] The computer system 900 and / or the processing circuitry 902 therein can be one or more remote units, such as part of a cloud service in a server, and / or incorporated in the vehicle 1.

[0088] The computer system 900 and / or the processing circuitry 902 therein can be communicatively coupled to any suitable unit and / or entity of the vehicle 1, and / or be capable of controlling any suitable unit and / or entity of the vehicle 1.

[0089] The examples herein can relate to predicting the longitudinal force required to propel the vehicle 1 in the driving direction in a target area 50. In addition, it can also relate to predicting the longitudinal force associated with locking different differentials in the set of differentials 30, and further using these forces as a basis for selecting an optimal locking configuration that will ensure the traction of the vehicle 1.

[0090] Examples in this document may include two phases: a prediction phase and a decision phase.

[0091] The prediction phase may include using surface data of the upcoming road profile and / or surface area 50 (also referred to as path information in the examples below). Within a prediction range (e.g., 5 - 15 seconds or 25 - 75 meters), the required longitudinal force can be calculated, for example, considering the variation of the vertical load on each wheel and the maximum traction capacity, that is, the longitudinal force acting on the vehicle 1 under differential lock and unlock conditions.

[0092] The decision phase may obtain inputs from the prediction phase, such as the preferred differential setting to maximize traction, and may take the required actions, that is, apply the appropriate configuration. Applying the actions may include locking / unlocking the inter-axle differential, the inter-wheel differential, using the existing traction control function, or using the inertia of the vehicle, that is, taking no action. The decision phase may also include the steering ability to decide whether to lock the differential.

[0093] Therefore, using prediction, the set of differentials 30 can be engaged (i.e., locked) long before the vehicle 1 reaches the target area 50. This reduces the dependence on the driver and is faster, more wear-resistant, and more energy-efficient than a reactive system that locks the differential when slip is detected. Using prediction, that is, enabling the set of differentials 30 to be locked before wheel slip, can also reduce the risk of the vehicle 1 being trapped in a low-friction area.

[0094] If it is decided to lock the inter-wheel differential for a straight road due to detecting a separating friction surface, that is, the target area 50 may slip only on one side, the prediction phase can further calculate the yaw torque generated on the vehicle 1 due to the differential lock and can further predict the required steering wheel angle correction to be able to drive in the target area 50.

[0095] Figure 2 is a flowchart of a method for assisting in maneuvering the set of differentials 30 of the vehicle 1. The assistance used herein may represent directly or indirectly selecting or otherwise providing a differential lock configuration for the set of differentials 30. In the following examples, the set of differentials 30 includes at least one inter-wheel differential, or a combination of at least one inter-axle differential and at least two inter-wheel differentials. The method includes the following actions, some of which may be performed simultaneously. The following actions may be performed in any suitable order. Figure 2 The dashed boxes in indicate optional actions. The following actions may be performed by the computer system 900 and / or the processing circuit 902 therein. The following actions may be repeated any number of times, for example, as long as the vehicle 1 is in motion.

[0096] Action 201

[0097] The method includes obtaining path information of a path 100 that the vehicle 1 has traveled or will travel. The path information indicates the friction and / or slope of a target area 50 in the driving direction D of the vehicle 1.

[0098] The path 100 can generally be a road, but can also be a predefined off-road path.

[0099] The path information can include any suitable static or predefined road information, such as any one or more of the following: - Slope information, such as the angle of the slope, - Boundary information, such as the boundary of the road / path, such as size, width, etc., - Curvature information, such as the degree of curvature of the road / path, - The profile of the road / path, such as detailed information of path structures such as slopes, bumps, curves, etc., - The type of the road / path, - Friction information, such as the estimated friction coefficient of the road / path, and - Environmental information, such as the friction that affects the road / path.

[0100] In some examples, the path information is at least partially based on the measurement results of one or more measurement vehicles that have previously traveled through the target area 50. The one or more measurement vehicles may or may not include the vehicle 1.

[0101] In some examples, obtaining the path information or at least part of the path information includes sensing the path information using one or more sensors 20 of the vehicle 1, for example, using any one or more of the following: - One or more cameras, - One or more Global Positioning System (GPS) sensors, and - One or more lidar sensors.

[0102] Sensing the path information can include sensing the environmental information of the path 100, or other information indicating the friction of the target area 50, for example, information on whether it is raining or snowing, and / or whether the path 100 and the target area 50 are slippery (for example, associated with icing conditions).

[0103] In some examples, obtaining the path information or at least part of the path information includes obtaining the path information from a storage medium and / or a server, that is, at least part of the path information can be predefined, for example, such as map information, such as slope angle, surface type, curvature, etc.

[0104] Action 202

[0105] The method includes obtaining vehicle motion information of vehicle 1.

[0106] The vehicle motion information indicates the current vehicle speed of vehicle 1.

[0107] The vehicle motion information may also indicate any suitable parameter indicating the motion and / or force of vehicle 1, such as a parameter that can be exerted or maintained by vehicle 1, such as any one or more of the following: pitch, acceleration, yaw, steering wheel angle, wheel angle, current differential state or configuration, current torque applied to the wheels of vehicle 1, and current longitudinal force provided.

[0108] In other words, the vehicle motion information can be any suitable information describing the current motion of vehicle 1.

[0109] Action 203

[0110] The method includes obtaining a reference vehicle motion of the target area 50.

[0111] The reference vehicle motion indicates the reference vehicle speed of the target area 50.

[0112] The reference vehicle motion may also indicate any suitable parameter for evaluating the motion and / or force that vehicle 1 can exert or maintain, such as any one or more of the following: pitch, acceleration, yaw, steering wheel angle, wheel angle, current differential state or configuration, and current longitudinal force provided. In some examples, the reference vehicle motion may only need to include the reference speed, steering wheel angle, or target global force.

[0113] In other words, the reference vehicle motion can be any suitable information describing the target vehicle motion in the target area 50.

[0114] The reference vehicle motion can be specified at one or more positions in the target area 50, such as a certain movement or speed at the corresponding position.

[0115] The reference vehicle motion can be a record of one or more reference vehicles (e.g., vehicle 1 and / or another vehicle and / or a simulated vehicle) traveling on the path 100.

[0116] Action 204

[0117] The method includes predicting an acceleration request to be executed by vehicle 1 in the target area 50. The execution request used herein can mean that vehicle 1 issues or transmits an instruction for the request. The acceleration request is predicted based on vehicle motion information and a reference vehicle motion. For example, the current speed is established through the vehicle motion information, and the target speed is established through the reference vehicle motion, such as at a set position in the target area 50, so that in order to achieve the reference vehicle motion, the position, time, and magnitude of the acceleration request can be predicted.

[0118] Predicting the acceleration request of vehicle 1 in the target area 50 can be based on path information and a predefined driver model indicating the timing and / or magnitude of the acceleration request.

[0119] The predefined driver model can be a speed controller and / or a path follower that predicts the longitudinal acceleration in the target area.

[0120] Additionally or alternatively, the predefined driver model can be a machine learning model trained based on the driver's input (e.g., when previously driving on path 100 and in the target area 50). Additionally or alternatively, the predefined driver model can have been trained for one or more other drivers who have driven on path 100 and in the target area 50. Additionally or alternatively, the predefined driver model can use extrapolation techniques or optimization to predict the longitudinal acceleration based on the current input and historical data.

[0121] In other words, the predefined driver model can be a simple speed model and / or can be a model trained to predict where and by how much an acceleration request will occur. The model can be customized for a specific driver or applicable to all drivers.

[0122] For example, the predefined driver model can be used to predict how / when the driver of vehicle 1 will execute an acceleration request, such as based on any one or more of the reference vehicle motion, vehicle motion information, and path information.

[0123] In the examples herein, predicting the acceleration request can also obtain and use information on the steering wheel angle of vehicle 1.

[0124] Action 205

[0125] The method includes determining the longitudinal force required to drive vehicle 1 in the driving direction D.

[0126] The required longitudinal force is determined based on the vehicle motion information, path information, and the mass of vehicle 1.

[0127] The mass of the vehicle may or may not include the current payload of vehicle 1. If the payload is not known, the maximum payload of the vehicle may be used. The mass may be predefined or may be estimated using any suitable estimation method.

[0128] The required longitudinal force may be the force required to drive vehicle 1 in the driving direction D (such as forward) when located in the target area 50. In some examples, the required longitudinal force may be the force required to achieve a reference vehicle motion.

[0129] The required longitudinal force may be determined (such as calculated) based on an acceleration request and the mass (e.g., multiplied). In addition, any one or more of the following may be considered: - Rolling resistance, e.g., based on friction information that is part of the path information, - Grade resistance, e.g., based on grade information that is part of the path information, and - Aerodynamics, e.g., based on a predefined model of vehicle 1, its speed, and / or determined based on the current and / or reference vehicle motion.

[0130] The required longitudinal force may be limited based on the force generation capability of the powertrain 40 of vehicle 1. This means that determining the required longitudinal force may be based on the force generation capability of the powertrain 40 of vehicle 1.

[0131] Action 206

[0132] In some examples, the method includes predicting one or more vertical loads applied to one or more axles and / or one or more wheels of vehicle 1.

[0133] The prediction may be based on path information, e.g., path information indicating one or more of bumps, grades, and / or potholes.

[0134] Action 207a

[0135] The method includes predicting a first longitudinal force of vehicle 1 when the set of differentials 30 is configured according to the current configuration. Generally, the set of differentials 30 may initially all be unlocked.

[0136] The prediction of the first longitudinal force is based on an acceleration request (e.g., when vehicle 1 requests acceleration and the degree of acceleration requested), path information (e.g., friction and / or grade in path 100), and the mass of vehicle 1 (e.g., how much weight needs to be moved in the driving direction D when requesting acceleration). In other words, the prediction of the first longitudinal force may be based on how much acceleration is required to achieve a reference speed based on the mass of vehicle 1. The mass of vehicle 1 may include any payload carried by vehicle 1.

[0137] The first longitudinal force can be limited based on the force generation capability of the powertrain 40 of the vehicle 1. This means that predicting the first longitudinal force can also be based on the force generation capability of the powertrain 40 of the vehicle 1.

[0138] Predicting the first longitudinal force can also be based on the predicted vertical load, i.e., there can be a model and / or predefined correspondence between the predicted vertical load and the corresponding longitudinal force. The vertical load changes on each wheel and axle can be calculated using the path information and the expected acceleration of the vehicle 1. It can be used together with the frictional force to predict the first longitudinal force.

[0139] In other words, the first longitudinal force can be, for example, the force acting on the vehicle 1 in the driving direction D. The first longitudinal force can be the force acting on the vehicle 1 based on the movement of the vehicle 1, the mass of the vehicle 1, the acceleration request, the path information (such as frictional force), and based on the current configuration of the set of differentials 30 (e.g., all unlocked), for example, as predicted as part of action 207a.

[0140] Action 207b

[0141] The method includes predicting one or more second longitudinal forces of the vehicle 1 using one or more differential lock configurations associated with locking or unlocking one or more differentials of the set of differentials 30.

[0142] Predicting one or more second longitudinal forces is based on the acceleration request (e.g., when the vehicle 1 requests acceleration and the degree of acceleration requested), the path information (e.g., the frictional force and / or slope in the path 100), and the mass of the vehicle 1 (e.g., how much weight needs to be moved in the driving direction D when requesting acceleration, or how much acceleration is required to move the vehicle 1 together with the mass on the vehicle 1 in the direction D).

[0143] The difference between predicting the first longitudinal force and one or more second longitudinal forces lies in the state of the set of differentials, i.e., whether it is locked or unlocked, which can provide different wheel speeds, can avoid slip or wheel spin, and can improve traction, thereby obtaining different longitudinal forces, such as a longitudinal force increased compared to the first longitudinal force.

[0144] Essentially, locking a differential generally improves traction, and this is even more so for locking multiple differentials. For example, this can be evaluated as part of the prediction in this article, but it may also cause wear and / or take time. In other words, it is best not to lock the differential unless it is necessary.

[0145] Typically, since the set of differentials 30 may initially all be unlocked, one or more differential lock configurations may be associated with locking one or more of the differentials in the set of differentials 30.

[0146] One or more differential lock configurations may be exhaustive, i.e., may include all lock configurations different from the current lock configuration. Alternatively, one or more differential lock configurations may include only one or a selected number of configurations.

[0147] One or more second longitudinal forces may be limited based on the force generating capacity of the powertrain 40 of the vehicle 1. This means that predicting one or more second longitudinal forces may also be based on the force generating capacity of the powertrain 40 of the vehicle 1.

[0148] Predicting one or more second longitudinal forces may also be based on the predicted vertical load, i.e., there may be a model and / or predefined correspondence between the predicted vertical load and the corresponding longitudinal force.

[0149] Predicting the first longitudinal force and / or one or more second longitudinal forces may also be based on any suitable machine learning model, e.g., as part of any machine learning model exemplified herein, the model being trained to predict the corresponding longitudinal force based on any number of suitable training parameters, e.g., that may be obtained from previous drives of the vehicle 1 and / or other training vehicles in the target area 50 and / or other similar areas, such as any one or more of the following: the corresponding target area, the corresponding acceleration request, the corresponding path information, e.g., the corresponding friction and / or the corresponding slope, and the corresponding mass of the corresponding vehicle, and / or the corresponding vertical load applied in the corresponding target area.

[0150] In other words, one or more second longitudinal forces may be, for example, forces acting on the vehicle 1 in the driving direction D. One or more second longitudinal forces may be, respectively, forces acting on the vehicle 1 based on the movement of the vehicle 1, the mass of the vehicle 1, the acceleration request, the path information (such as friction), and based on different candidate lock configurations of the set of differentials 30 (e.g., different configurations of locked differentials), e.g., as predicted as part of action 207b.

[0151] Action 208

[0152] The method includes selecting a differential lock configuration from one or more differential lock configurations for use by the vehicle 1 when the first longitudinal force does not meet the required longitudinal force.

[0153] The first longitudinal force not meeting the required longitudinal force may mean that the first longitudinal force is lower than the required longitudinal force.

[0154] The selected differential lock configuration is associated with a second longitudinal force that is equal to or greater than the required longitudinal force.

[0155] Selecting a differential lock configuration can include sequentially checking one or more differential lock configurations. For example, first checking the inter-axle differential and then the inter-wheel differential. If the corresponding configuration (e.g., locking the inter-axle differential) will result in sufficient traction such that the corresponding second longitudinal force of the corresponding configuration is at least equal to the required longitudinal force (possibly taking into account an error range), and if so, then select the corresponding locked configuration. Otherwise, check the next configuration in the same corresponding manner (e.g., locking both the inter-axle differential and the inter-wheel differential).

[0156] If the first longitudinal force and / or one or more second longitudinal forces indicate that unlocking one or more differentials in the set of differentials 30 as part of a lock configuration will result in meeting the required longitudinal force, then this lock configuration is preferably selected.

[0157] Action 209

[0158] In some examples, the method includes determining the steering ability of the vehicle 1 when using the selected differential lock configuration in the target area 50.

[0159] The steering ability can be related to the magnitude of the yaw force and / or lateral force that can be achieved when the vehicle 1 steers in a certain direction using the selected differential lock configuration.

[0160] The steering ability can be determined based on path information (such as friction, slope, and / or curvature).

[0161] In other words, the maximum steering ability can be calculated based on the predicted vertical load on the front axle and the friction information of the path 100. For example, the lateral force that can be applied to the front axle (e.g., the first axle 11) when the vehicle 1 is traveling along an expected curve.

[0162] Action 210

[0163] In some examples, the method includes estimating the steering compensation required to maintain the vehicle trajectory and / or keep the vehicle 1 within the boundaries of the target area 50 (i.e., the geographical boundaries or the width of the road or the boundaries of the driving area of the path). Estimating the steering compensation can be based on the steering ability and path information, such as indicating the friction and / or slope and / or boundaries of the target area 50 (i.e., the width of the target area 50).

[0164] The steering compensation can indicate how much the vehicle 1 must steer so as not to drive off the road in the target area 50.

[0165] As an example, in the target area 50, only one side of the road surface may be slippery for the vehicle 1. In order to keep driving straight, the vehicle 1 must turn forcefully to the other side.

[0166] The estimations used herein can also be used to balance lateral and traction capabilities.

[0167] When the inter-wheel differential is locked and the vehicle 1 encounters a difference in friction levels on the left and right sides of the vehicle 1, a yaw torque of the vehicle 1 may be generated. Due to the uneven longitudinal forces generated on the left and right sides of the vehicle 1, a yaw torque may be generated. In order to compensate for this yaw torque and keep the vehicle 1 traveling on the desired path, for example, in the target area 50, steering compensation may be required.

[0168] In other words, if the differential is to be locked, the additional steering wheel angle required to compensate for the locked differential can be calculated. The compensation can be compared with the maximum predicted lateral force. If the additional steering wheel angle due to differential locking cannot be compensated, the differential is not locked. This can be done at the decision-making stage, as discussed above and below.

[0169] Action 211

[0170] In some examples, the method includes determining whether to apply the selected differential lock configuration before reaching the target area 50 based on the estimated or predicted required steering compensation.

[0171] For example, if the steering compensation is higher than a threshold, it may be unsafe to continue driving, and thus it can be determined not to apply the selected differential lock configuration before reaching the target area 50.

[0172] As another example, the vehicle 1 may not be able to perform steering compensation, that is, the required steering compensation may be too high for the vehicle 1. When the required steering compensation is too high for the vehicle 1, the required steering compensation may exceed the steering compensation threshold.

[0173] Action 212

[0174] In some examples, the method includes applying the selected differential lock configuration before reaching the target area 50, for example, at least 5 - 50 meters before reaching the target area 50 (depending on the speed), so that the differential is correctly locked when entering the target area 50.

[0175] In this way, wheel slip in the target area 50 is reduced and traction is increased without causing excessive wear to the vehicle 1.

[0176] In addition, due to the mechanical limitations of the locking differential, applying the correct differential lock in advance will save time and resources compared to locking the differential when slip begins.

[0177] When leaving the target area 50, the initial differential lock configuration can be reset and / or it can be predicted which differential lock configuration is suitable for a second area outside the target area 50 in terms of longitudinal force, and subsequently, the differential lock configuration can be set when leaving the target area 50 and when entering or before entering the second area.

[0178] In some examples herein, due to mechanical limitations, there may be a time delay between a differential lock request (i.e., when applying the selected differential lock configuration) and the actual change in the differential lock configuration. This time difference can be addressed in the examples herein, for example, how early the configuration should be applied before the target area 50.

[0179] To further assist in applying the selected differential lock, additional functions (such as wheel speed and / or axle speed synchronization functions) can be added to lock the differential immediately upon request. That is, the wheels and / or axles can first be synchronized in other ways, such as braking the wheels and / or axles to synchronize their speeds, so that the differential lock can occur more quickly.

[0180] Figures 3a to 3b An exemplary scenario according to an example herein is shown.

[0181] Figure 3a First, a vehicle 1 is shown traveling on a horizontal road, where a uniform vertical force 300 is applied to the axles of the vehicle 1. In these cases, if the frictional force of the surface area of the path 100 is sufficient to propel the vehicle 1, there is no need to lock the set of differentials 30.

[0182] Figure 3b An uphill slope is shown, for example as part of the target area 50, where the first drive axle of the vehicle 1 (e.g., the second axle 12) has a reduced vertical load 302 compared to the high vertical loads 301 on the first axle 11 and the third axle 13. The excessive vertical load 301 can be a load exceeding a load threshold. Such a steep uphill can be seen on construction sites, mining sites, or forest roads, and the road surface has less friction, such as snow, mud, or gravel. In these cases, it may be necessary to lock the inter-axle differential in the set of differentials 30, preferably before entering the slope, so that more power is transmitted to the wheels of the third axle 13.

[0183] Figure 4 An exemplary scenario according to an example herein is shown. Figure 4An example of a separated friction road condition is shown, i.e., due to different frictions on the left surface area 401 and the right surface area 402 (e.g., as part of the target area 50), the frictions under the left and right wheels may be different.

[0184] The maximum traction capacity of each wheel may be limited by the maximum engine power (i.e., the capacity of the powertrain 15) or the road-wheel interaction capacity (which may mean friction multiplied by the vertical load).

[0185] In this case, the left surface area 401 may have a high friction, i.e., the road-wheel interaction capacity is higher than a threshold and higher than the friction of the right surface area 402.

[0186] This means that the wheels will experience different idling and slipping, and when the vehicle 1 attempts to travel in the driving direction D, the vehicle 1 may be subject to a yaw moment due to the different slips of the wheels, causing the vehicle to turn towards the side with less friction. To improve traction and better maneuver the vehicle, it may be necessary to lock the differential (such as the inter-axle differential), preferably before entering the surface areas 401, 402.

[0187] In other words, under these road conditions, the road-wheel interaction capacity may be reduced due to a decrease in the vertical load (e.g., road profile) or due to low friction (e.g., due to snow, mud, gravel, etc.). In the case of an open differential, the wheel with the least resistance starts to rotate faster than the other wheels, which may cause the vehicle to be trapped due to wheel idling. To avoid this, it is desirable to predict the differential lock of the set of differentials 30 in advance, such as the actions presented above.

[0188] Figure 5 An exemplary prediction model according to an example herein is shown.

[0189] The prediction model 503 forming at least a part of the prediction phase may include an iterative loop of a driver model 504 (e.g., a predefined driver model) and a vehicle dynamics model 505, which predicts the longitudinal force of the vehicle 1 based on different lock configurations of the set of differentials and based on the driver model 504 indicating an acceleration request.

[0190] The prediction model 503 may receive an input of the road type 501 of the path 100, such as the road type of the path 100 and its approximate friction, and the road profile 502 of the path 100, such as the curvature and slope information of the path 100, which is part of the path information discussed in action 201.

[0191] The reference speed 508 may be transmitted to the vehicle 1 and the prediction model 1.

[0192] Vehicle 1 can provide feedback on the vehicle state and friction estimate 513, which is the friction estimate of the current surface.

[0193] The prediction model can use any one or more of the road type 501, road profile 502, reference speed 508, and vehicle state and friction estimate 513 to predict (e.g., based on any one or more of the above actions) which locking configuration of the set of differentials 30 achieves at least the longitudinal force required to drive vehicle 1 in the driving direction D. The preferred differential locking configuration for the predicted range (i.e., the target area 50) can be indicated 511 to the decision model 506. The decision model 506 can determine whether the preferred differential locking configuration can be used in the target area 50, e.g., in terms of steering compensation and capabilities, and can further indicate 512 to vehicle 1 which differential to lock, the inter-axle differential and / or the inter-wheel differential.

[0194] Some examples herein (including Figure 5 the scenarios) can involve a long prediction range using road data, which can include the target area 50. The road data (e.g., as part of the above path information) may need to be input to a driver model (e.g., the predefined driver model discussed above) and can include attributes such as slopes, curvatures, and / or road surface types (e.g., indicating friction over a long range). It can be assumed that the friction is constant or varies over time within the prediction range, or as indicated by the path information. Such information can be obtained as described in the above actions, or can be received from recorded road information and / or data from vehicles traveling in front of vehicle 1 through a location-based predefined model (e.g., Adasis, camera).

[0195] Additionally or alternatively, the following method, for example, executed by the processing circuit 902 can be used to obtain slope information, curvature data, and / or friction data.

[0196] Step 1: A camera or other sensors installed on vehicle 1 (e.g., as part of one or more sensors 20) can be used and / or controlled to measure and / or determine any one or more of road limits / boundaries, road surface type (e.g., snow, mud, asphalt, etc.), and / or approximate slope (e.g., percentage or angle).

[0197] Step 2: Driver historical data of the acceleration pedal change rate and / or the steering wheel change rate, and possibly together with the current angular rate, can be used to predict the approximate slope, percentage, and / or angle and curvature, e.g., the concave curvature path of path 100. In other words, step 2 can include obtaining driver historical data, e.g., received from a server or based on local recordings of driver input and / or vehicle 1 actions, and further estimating the path information of path 100 based on the driver historical data.

[0198] Driver historical data can come from the same driver or the same vehicle, but can also be associated with any driver or vehicle, e.g., a vehicle traveling on path 100.

[0199] The above step 1 and / or step 2 can be part of action 201.

[0200] Additional Variants and Examples

[0201] As mentioned above, the examples in this document can be defined in two phases: a prediction phase, e.g., as part of the above actions 201 - 207a / b, and / or as part of prediction model 503; and a decision phase, e.g., the above actions 208 - 212, and / or as part of decision model 506.

[0202] The prediction phase can use a driver model (e.g., a predefined driver model) and a vehicle dynamics model (e.g., vehicle dynamics model 505). The driver model can be any suitable speed controller and / or path follower that predicts the longitudinal acceleration request (hereinafter referred to as areq), e.g., considering a reference speed (e.g., reference vehicle motion) and the current vehicle speed (e.g., vehicle motion information), and optionally using a steering wheel angle request and road data information (e.g., as part of the path information of action 201).

[0203] The vehicle dynamics model can include steps 11 - 16. For example, these steps can be iteratively looped for a set prediction range, e.g., initially including at least target area 50. Steps 11 - 16 can be combined with the above actions and can be executed by processing circuit 902. Any of steps 11 - 16 can be skipped if appropriate.

[0204] Step 11. Obtain the force required to propel vehicle 1 in driving direction 1, e.g., as in action 205 above, such as by calculating: Fx_req = mass × areq + rolling resistance + ramp resistance, i.e., the required longitudinal force can be calculated based on the mass and the acceleration request and considering the rolling resistance (i.e., based on the friction force as part of the path information) and considering the ramp resistance (i.e., based on the ramp information as part of the path information).

[0205] Step 12. Compare the required force from step 11 with the powertrain capacity of the powertrain 15 of vehicle 1 to determine if vehicle 1 can achieve the required force. If not, it may be necessary to stop vehicle 1 or issue an alert to the driver.

[0206] Step 13. Predict the vertical load on each wheel / axle based on the road profile and / or driver requests (such as based on the path information and / or predefined driver model discussed above), for example as part of action 206.

[0207] Step 14. Calculate the maximum actuator capabilities, i.e., the first longitudinal force and one or more second longitudinal forces, for example as part of actions 207a and 207b. Exemplary calculations for different locking configurations of the set of differentials 30 when the vehicle 1 is a 6x4 or 8x4 vehicle: • All differentials open: F xo_diff = 4 × min (μ ij × F zij ) • Inter-axle differential locked: F xlAL_diff = 2 × min(μ 1j × F z1j ) + 2 × min(μ 2j × F z2j ) • Inter-axle differential and inter-wheel differential locked: F xlWL_diff = Σ (μ ij × F zij ) • Where i can indicate the drive axle number, • Where j can represent left / right wheel, • Where μ can indicate the predicted frictional force using road data (such as path information), • And where F z is the predicted vertical load.

[0208] Step 15. Predict the vehicle state, such as any one or more of longitudinal speed, pitch speed, and / or pitch angle, and update the state of the vehicle dynamics model for iterating the vehicle in additional regions.

[0209] Step 16. Compare the required force of step 11 with the actuator capabilities and output the preferred control settings, for example as part of action 208. The preferred control settings can be the settings that are expected to at least achieve the required force of step 11.

[0210] Figure 6 An exemplary scenario according to an example herein is shown. Figure 6 This can show part of the decision-making phase, for example, as part of any one or more of the above actions 208 - 212 or in combination therewith.

[0211] Based on the input from the prediction phase, such as in steps 11 - 16 above, a controller (such as processing circuit 902) can decide to take appropriate actions immediately or at least before reaching an area where wheel spin is likely to occur (e.g., target area 50). The actions can be locking / unlocking the inter - axle differential and / or the inter - wheel differentials of the set of differentials, or alternatively using existing traction control functions or using the inertia of the vehicle (i.e., no action). The decision - making phase can also include a switching hysteresis to avoid output fluctuations.

[0212] Summarizing some of the examples in this document, a simple vehicle model can use a prediction model to predictively lead vehicle 1's operation, such as in the actions above, to cover the next time horizon and output a preferred differential setting to maximize traction or at least provide sufficient traction. The prediction phase can use the current vehicle state (e.g., longitudinal speed, pitch speed, and / or pitch angle) obtained from vehicle 1 to initialize the prediction model.

[0213] The examples in this document are further applicable to trailers with independent propulsion systems.

[0214] Figure 7 is a flowchart of a method according to an example. The following actions can be combined with the actions mentioned above or any other example in any suitable way.

[0215] A computer - implemented method for assisting in maneuvering the set of differentials 30 of vehicle 1 is provided.

[0216] Action 701

[0217] The method includes obtaining, by processing circuit 902 of computer system 900, path information of path 100 that vehicle 1 has traveled or will travel, the path information indicating the friction and / or slope of target area 50 in the driving direction D of vehicle 1.

[0218] Action 702

[0219] The method includes obtaining, by processing circuit 902, vehicle motion information of vehicle 1, the vehicle motion information indicating the current vehicle speed of vehicle 1.

[0220] Action 703

[0221] The method includes obtaining, by processing circuit 902, the reference vehicle motion of target area 50, the reference vehicle motion indicating the reference vehicle speed of target area 50.

[0222] Action 704

[0223] The method includes predicting, by processing circuit 902, an acceleration request to be executed by vehicle 1 in target region 50 based on vehicle motion information and a reference vehicle motion.

[0224] Action 705

[0225] The method includes determining, by processing circuit 902, a longitudinal force required to drive vehicle 1 in driving direction D based on vehicle motion information, path information, and the mass of vehicle 1.

[0226] Actions 707a, 707b

[0227] The method includes predicting, by processing circuit 902, a first longitudinal force of vehicle 1 when the set of differentials 30 is configured according to a current configuration based on the acceleration request, path information, and the mass of vehicle 1, and predicting one or more second longitudinal forces of vehicle 1 using one or more differential lock configurations associated with locking or unlocking one or more of the differentials in the set of differentials 30.

[0228] Action 708

[0229] The method includes selecting, by processing circuit 902, a differential lock configuration from one or more differential lock configurations for use by vehicle 1 when the first longitudinal force does not meet the required longitudinal force, the selected differential lock configuration being associated with a second longitudinal force equal to or greater than the required longitudinal force.

[0230] Figure 8 is according to the example Figure 1 Another view of

[0231] A computer system 900 is provided that includes a processing circuit 902 configured to assist in maneuvering a set of differentials 30 of vehicle 1.

[0232] Processing circuit 902 is configured to obtain path information of path 100 traveled or to be traveled by vehicle 1. The path information indicates the friction and / or slope of target region 50 in the driving direction D of vehicle 1.

[0233] Processing circuit 902 is configured to obtain vehicle motion information of vehicle 1. The vehicle motion information indicates the current vehicle speed of vehicle 1.

[0234] Processing circuit 902 is configured to obtain a reference vehicle motion of target region 50. The reference vehicle motion indicates the reference vehicle speed of target region 50.

[0235] Processing circuit 902 is configured to predict, based on the vehicle motion information and the reference vehicle motion, an acceleration request to be executed by vehicle 1 in target region 50.

[0236] The processing circuit 902 is configured to determine a longitudinal force required to drive the vehicle 1 in the driving direction D based on vehicle movement information, path information, and the mass of the vehicle 1.

[0237] The processing circuit 902 is configured to predict a first longitudinal force of the vehicle 1 when the set of differentials 30 is configured according to the current configuration based on an acceleration request, path information, and the mass of the vehicle 1, and to predict one or more second longitudinal forces of the vehicle 1 using one or more differential lock configurations associated with locking or unlocking one or more of the differentials in the set of differentials 30.

[0238] The processing circuit 902 is configured to select a differential lock configuration from the one or more differential lock configurations for use by the vehicle 1 when the first longitudinal force is lower than the required longitudinal force, the selected differential lock configuration being associated with a second longitudinal force that is equal to or greater than the required longitudinal force.

[0239] Figure 9 is a schematic diagram of a computer system 900 for implementing the examples disclosed herein. The computer system 900 is adapted to execute instructions from a computer-readable medium to perform these and / or any functions or processes described herein. The computer system 900 may be connected (e.g., networked) to other machines in a LAN (Local Area Network), LIN (Local Interconnect Network), automotive network communication protocol (e.g., FlexRay), intranet, extranet, or the Internet. Although only a single device is shown, the computer system 900 may include any collection of devices that individually or jointly execute instruction sets (or multiple instruction sets) to perform any one or more of the methods discussed herein. Thus, any reference in this disclosure and / or the claims to a computer system, computing system, computer device, computing device, control system, control unit, electronic control unit (ECU), processor device, processing circuit, etc. includes a reference to one or more such devices to individually or jointly execute an instruction set (or multiple instruction sets) to perform any one or more of the methods discussed herein. For example, a control system may include a single control unit or multiple control units connected to or otherwise communicatively coupled to each other such that any executed function can be distributed among the control units as needed. Additionally, such devices may communicate with each other or with other devices via various system architectures such as directly or via a controller area network (CAN) bus, etc.

[0240] The computer system 900 may include at least one computing device or electronic device capable of including firmware, hardware, and / or executing software instructions to implement the functionality described herein. The computer system 900 may include processing circuitry 902 (e.g., processing circuitry including one or more processor devices or control units), a memory 904, and a system bus 906. The computer system 900 may include at least one computing device having the processing circuitry 902. The system bus 906 provides an interface for system components including, but not limited to, the memory 904 and the processing circuitry 902. The processing circuitry 902 may include any number of hardware components for performing data or signal processing or for executing computer code stored in the memory 904. The processing circuitry 902 may include, for example, a general-purpose processor, a special-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), circuitry including processing components, a group of distributed processing components, a group of distributed computers configured for processing, or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The processing circuitry 902 may also include computer-executable code for controlling the operation of the programmable device.

[0241] The system bus 906 may be any of several types of bus structures that may further interconnect to a memory bus (with or without a memory controller), a peripheral bus, and / or a local bus using any of a variety of bus architectures. The memory 904 may be one or more devices for storing data and / or computer code to complete or facilitate the methods described herein. The memory 904 may include database components, object code components, script components, or any type of information structure for supporting the various activities herein. Any distributed or local memory device may be utilized with the systems and methods of this specification. The memory 904 may be communicatively coupled to the processing circuitry 902 (e.g., via circuitry or any other wired, wireless, or network connection) and may include computer code for performing one or more of the processes described herein. The memory 904 may include non-volatile memory 908 (e.g., read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.) and volatile memory 910 (e.g., random access memory (RAM)), or any other medium that can be used to carry or store desired program code in the form of machine-executable instructions or data structures and that can be accessed by a computer or other machine having the processing circuitry 902. The basic input / output system (BIOS) 912 may be stored in the non-volatile memory 908 and may include basic routines that aid in transferring information between elements within the computer system 900.

[0242] The computer system 900 may also include or be coupled to a non-transitory computer-readable storage medium such as a storage device 914, which may include, for example, an internal or external hard disk drive (HDD) (e.g., enhanced integrated drive electronics (EIDE) or serial advanced technology attachment (SATA)), an HDD for storage (e.g., EIDE or SATA), flash memory, etc. The storage device 914 and other drives associated with the computer-readable medium and the computer-usable medium may provide non-volatile storage of data, data structures, computer-executable instructions, etc.

[0243] The hard-coded or soft-coded computer code may be provided in the form of one or more modules. The modules may be implemented as software and / or hard-coded in circuitry to implement all or part of the functionality described herein. The modules may be stored in the storage device 914 and / or the volatile memory 910, which may include an operating system 916 and / or one or more program modules 918. All or part of the examples disclosed herein may be implemented as a computer program 920 stored on a transitory or non-transitory computer-usable or computer-readable storage medium such as the storage device 914 (e.g., a single medium or multiple media), which includes complex programming instructions (e.g., complex computer-readable program code) that cause the processing circuitry 902 to perform the actions described herein. Thus, the computer-readable program code of the computer program 920 may include software instructions for implementing the functionality of the examples described herein when executed by the processing circuitry 902. In some examples, the storage device 914 may be a computer program product (e.g., a readable storage medium) on which the computer program 920 is stored, where at least a portion of the computer program 920 may be loadable (e.g., loaded into the processor) for implementing the functionality of the examples described herein when executed by the processing circuitry 902. The processing circuitry 902 may act as a controller or control system of the computer system 900 for implementing the functionality described herein.

[0244] The computer system 900 may include an input device interface 922, which is configured to receive inputs and selections to be transmitted to the computer system 900, such as from a keyboard, a mouse, a touch-sensitive surface, etc., when executing instructions. Such input devices may be connected to the processor circuitry 902 through the input device interface 922 coupled to the system bus 906, but may be connected through other interfaces (such as a parallel port, an Institute of Electrical and Electronics Engineers (IEEE) 1394 serial port, a universal serial bus (USB) port, an IR interface, etc.). The computer system 900 may include an output device interface 924, which is configured to forward the output to, such as a display, a video display unit (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)). The computer system 900 may include a communication interface 926 suitable for communicating with a network as appropriate or as needed.

[0245] The operational actions described in any of the exemplary aspects herein are provided for purposes of example and discussion. These actions may be performed by hardware components, embodied in machine-executable instructions to cause a processor to perform these actions, or performed by a combination of hardware and software. Although a particular order of method actions may be shown or described, the order of the actions may vary. Additionally, two or more actions may be performed simultaneously or partially simultaneously.

[0246] The following are a number of examples, which may be combined with the above examples in any suitable manner.

[0247] Example 1. A computer system 900, comprising a processing circuit 902 configured to assist in maneuvering a set of differentials 30 of a vehicle 1, the processing circuit 902 further configured to: Obtain path information of a path 100 traveled or to be traveled by the vehicle 1, the path information indicating friction and / or slope of a target area 50 in a driving direction D of the vehicle 1, Obtain vehicle motion information of the vehicle 1, the vehicle motion information indicating a current vehicle speed of the vehicle 1, Obtain a reference vehicle motion of the target area 50, the reference vehicle motion indicating a reference vehicle speed of the target area 50, Based on the vehicle motion information and the reference vehicle motion, predict an acceleration request to be executed by the vehicle 1 in the target area 50, Based on the vehicle motion information, the path information, and a mass of the vehicle 1, determine a longitudinal force required to drive the vehicle 1 in the driving direction D, Based on the acceleration request, the path information, and the mass of the vehicle 1, predict a first longitudinal force of the vehicle 1 when the set of differentials 30 is configured according to a current configuration, and predict one or more second longitudinal forces of the vehicle 1 using one or more differential lock configurations associated with locking or unlocking one or more of the differentials in the set of differentials 30, When the first longitudinal force is lower than the required longitudinal force, select a differential lock configuration from the one or more differential lock configurations for use by the vehicle 1, the selected differential lock configuration being associated with a second longitudinal force equal to or greater than the required longitudinal force.

[0248] Example 2. The computer system 900 according to Example 1, wherein the processing circuit 902 is configured to obtain at least a part of the path information by sensing the path information using one or more sensors of the vehicle 1.

[0249] Example 3. The computer system 900 according to Example 1 or 2, wherein the processing circuit 902 is configured to obtain at least a part of the path information by obtaining the path information from a storage medium and / or a server.

[0250] Example 4. The computer system 900 according to any one of Examples 1 to 3, wherein the path information is at least partially based on the measurement results of one or more measurement vehicles that have previously traveled through the target area 50.

[0251] Example 5. The computer system 900 according to any one of Examples 1 to 4, wherein the processing circuit 902 is configured to predict the acceleration request of the vehicle 1 in the target area 50 based on the path information and based on a predefined driver model indicating the timing and / or amplitude of the acceleration request.

[0252] Example 6. The computer system 900 according to any one of Examples 1 to 5, wherein any one or more of the required longitudinal force, the first longitudinal force, and / or the one or more second longitudinal forces are limited based on the force generation capability of the powertrain 40 of the vehicle 1.

[0253] Example 7. The computer system 900 according to any one of Examples 1 to 6, wherein the processing circuit 902 is configured to: Based on the path information, predict one or more vertical loads applied to one or more axles and / or one or more wheels of the vehicle 1, and Based on the predicted vertical loads, predict the first longitudinal force and / or the one or more second longitudinal forces.

[0254] Example 8. The computer system 900 according to any one of Examples 1 to 7, wherein the one or more differential lock configurations include locking the inter-wheel differential of the set of differentials 30, and / or wherein the one or more differential lock configurations include locking the inter-axle differential of the set of differentials 30.

[0255] Example 9. The computer system 900 according to any one of Examples 1 to 8, wherein the processing circuit 902 is configured to apply the selected differential lock configuration before reaching the target area 50.

[0256] Example 10. The computer system 900 according to any one of Examples 1 to 9, wherein the processing circuit 902 is configured to: Determine the steering ability of the vehicle 1 when using the selected differential lock configuration in the target area 50, and Estimate a steering compensation required to maintain the trajectory of the vehicle 1 and / or keep the vehicle 1 within the boundaries of the target area 50 based on the path information and the steering ability, and Determine whether to apply the selected differential lock configuration before reaching the target area 50 based on the estimated required steering compensation.

[0257] Example 11. A vehicle 1 including a set of differentials 30, and wherein the vehicle 1 includes a computer system 900 according to any one of Examples 1 to 10.

[0258] Example 12. The vehicle 1 according to Example 11, wherein the set of differentials 30 includes at least one inter-wheel differential, or a combination of at least one inter-axle differential and at least two inter-wheel differentials.

[0259] Example 13. A computer-implemented method for assisting in maneuvering a set of differentials 30 of a vehicle 1, comprising: Obtain 201, 701 path information of a path 100 traveled or to be traveled by the vehicle 1 by a processing circuit 902 of the computer system 900, the path information indicating the friction and / or slope of a target area 50 in a driving direction D of the vehicle 1, Obtain 202, 702 vehicle motion information of the vehicle 1 by the processing circuit 902, the vehicle motion information indicating a current vehicle speed of the vehicle 1, Obtain 203, 703 a reference vehicle motion of the target area 50 by the processing circuit 902, the reference vehicle motion indicating a reference vehicle speed of the target area 50, Predict 204, 704 an acceleration request to be executed by the vehicle 1 in the target area 50 by the processing circuit 902 based on the vehicle motion information and the reference vehicle motion, Determine 205, 705 a longitudinal force required to drive the vehicle 1 in the driving direction D by the processing circuit 902 based on the vehicle motion information, the path information, and a mass of the vehicle 1, Predict 207a, 707a a first longitudinal force of the vehicle 1 when the set of differentials 30 is configured according to a current configuration by the processing circuit 902 based on the acceleration request, the path information, and the mass of the vehicle 1, and predict 207b, 707b one or more second longitudinal forces of the vehicle 1 using one or more differential lock configurations associated with locking or unlocking one or more differentials of the set of differentials 30, When the first longitudinal force does not meet the required longitudinal force, the processing circuit 902 selects 208, 708 a differential lock configuration from the one or more differential lock configurations for use by the vehicle 1, and the selected differential lock configuration is associated with a second longitudinal force that is equal to or greater than the required longitudinal force.

[0260] Example 14. The method according to Example 13, further comprising: Based on the path information, the processing circuit 902 predicts 206 one or more vertical loads applied to one or more axles and / or one or more wheels of the vehicle 1, and Based on the predicted vertical loads, the processing circuit 902 predicts 207a, 207b the first longitudinal force and / or the one or more second longitudinal forces.

[0261] Example 15. The method according to any one of Examples 13 to 14, further comprising: The processing circuit 902 determines 209 the steering ability of the vehicle 1 when using the selected differential lock configuration in the target area 50, and Based on the path information and the steering ability, the processing circuit 902 estimates 210 the steering compensation required to maintain the trajectory of the vehicle 1 and / or keep the vehicle 1 within the boundaries of the target area 50, and Based on the estimated required steering compensation, the processing circuit 902 determines 211 whether to apply the selected differential lock configuration before reaching the target area 50.

[0262] Example 16. The method according to any one of Examples 13 to 15, further comprising: Before reaching the target area 50, the processing circuit 902 applies 212 the selected differential lock configuration.

[0263] Example 17. The method according to any one of Examples 13 to 16, wherein the one or more differential lock configurations include locking the inter - wheel differential in the set of differentials 30, and / or wherein the one or more differential lock configurations include locking the inter - axle differential in the set of differentials 30.

[0264] Example 18. The method according to any one of Examples 13 to 17, wherein the path information is at least partially based on the measurement results of one or more measurement vehicles that have previously traveled through the target area 50.

[0265] Example 19. A computer program product comprising program code for performing the method according to any one of Examples 13 to 18 when executed by a processing circuit 902.

[0266] Example 20. A non-transitory computer-readable storage medium comprising instructions that, when executed by a processing circuit 902, cause the processing circuit 902 to perform the method according to any one of Examples 13 to 18.

[0267] The terms used herein are for the purpose of describing particular aspects only and are not intended to limit the disclosure. As used herein, unless the context clearly indicates otherwise, the singular forms "a" and "the" are intended to include the plural forms as well. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. It should also be understood that the terms "comprises" and / or "comprising," when used herein, specify the presence of stated features, integers, acts, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, acts, steps, operations, elements, components, and / or groups thereof.

[0268] It should be understood that although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of the disclosure, a first element may be termed a second element, and similarly, a second element may be termed a first element.

[0269] Relative terms such as "below" or "above" or "upper" or "lower" or "horizontal" or "vertical" may be used herein to describe the relationship of one element to another element, as shown in the figures. It should be understood that these terms, as well as those discussed above, are intended to cover different device orientations in addition to the orientation depicted in the figures. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, the element may be directly connected or directly coupled to the other element, or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, no intervening elements are present.

[0270] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It should also be understood that, unless clearly defined herein, the terms used herein should be interpreted as having a meaning consistent with their meaning in the context of this specification and the relevant art and should not be interpreted in an idealized or overly formal sense.

[0271] It should be understood that the present disclosure is not limited to the aspects described above and shown in the drawings; rather, those skilled in the art will recognize that many changes and modifications can be made within the scope of the present disclosure and the appended claims. In the drawings and the specification, the aspects have been disclosed for illustrative purposes only and not for purposes of limitation, and the scope of the disclosure is set forth in the appended claims.

Claims

1. A computer system (900) comprising a processing circuit (902) configured to assist in maneuvering a set of differentials (30) of a vehicle (1), the processing circuit (902) further configured to: obtaining path information of a path (100) that the vehicle (1) has traveled or is about to travel, wherein the path information indicates the friction and / or slope of a target area (50) in a driving direction (D) of the vehicle (1); obtaining vehicle motion information of the vehicle (1), the vehicle motion information indicating a current vehicle speed of the vehicle (1), obtaining a reference vehicle motion of the target area (50), the reference vehicle motion indicating a reference vehicle speed of the target area (50), predicting an acceleration request to be performed by the vehicle (1) in the target area (50) based on the vehicle motion information and the reference vehicle motion, determining a longitudinal force required to drive the vehicle (1) in the driving direction (D) based on the vehicle motion information, the path information and the mass of the vehicle (1), predicting a first longitudinal force of the vehicle (1) when the set of differentials (30) are configured according to a current configuration based on the acceleration request, the path information, and the mass of the vehicle (1), and predicting one or more second longitudinal forces of the vehicle (1) using one or more differential locking configurations associated with locking or unlocking one or more differentials in the set of differentials (30), A differential locking configuration of the one or more differential locking configurations is selected for use with the vehicle (1) when the first longitudinal force is less than a desired longitudinal force, the selected differential locking configuration being associated with a second longitudinal force that is equal to or greater than the desired longitudinal force.

2. The computer system (900) of claim 1, wherein the processing circuit (902) is configured to obtain at least a portion of the path information by sensing the path information using one or more sensors of the vehicle (1).

3. The computer system (900) according to claim 1 or 2, wherein the processing circuit (902) is configured to obtain at least a portion of the path information by obtaining the path information from a storage medium and / or a server.

4. The computer system (900) according to any one of claims 1 to 3, wherein the path information is at least partially based on measurement results of one or more measurement vehicles that have previously traveled through the target area (50).

5. A computer system (900) according to any one of claims 1 to 4, wherein the processing circuit (902) is configured to predict the acceleration request of the vehicle (1) in the target area (50) based on the path information and based on a predefined driver model indicating the timing and / or magnitude of the acceleration request.

6. A computer system (900) according to any one of claims 1 to 5, wherein the required longitudinal force, any one or more of the first longitudinal force and / or the one or more second longitudinal forces are limited based on the force generation capability of the powertrain (40) of the vehicle (1).

7. The computer system (900) according to any one of claims 1 to 6, wherein the processing circuit (902) is configured to: predicting one or more vertical loads applied to one or more axles and / or one or more wheels of the vehicle (1) based on the path information, and The first longitudinal force and / or the one or more second longitudinal forces are predicted based on the predicted vertical load.

8. The computer system (900) of any one of claims 1 to 7, wherein the one or more differential locking configurations include locking an inter-wheel differential of the set of differentials (30), and / or wherein the one or more differential locking configurations include locking an inter-axle differential of the set of differentials (30).

9. The computer system (900) of any one of claims 1 to 8, wherein the processing circuit (902) is configured to apply the selected differential locking configuration prior to reaching the target area (50).

10. The computer system (900) according to any one of claims 1 to 9, wherein the processing circuit (902) is configured to: determining the steering capability of the vehicle (1) when using the selected differential locking configuration in the target region (50), and estimating the steering compensation required to maintain the trajectory of the vehicle (1) and / or to maintain the vehicle (1) within the boundaries of the target area (50) based on the path information and the steering capability, and A determination is made whether to apply the selected differential locking configuration before reaching the target area (50) based on the estimated required steering compensation.

11. A vehicle (1) comprising a set of differentials (30), and wherein the vehicle (1) comprises a computer system (900) according to any one of claims 1 to 10, and optionally, wherein the set of differentials (30) comprises at least one inter-wheel differential, or a combination of at least one inter-axle differential and at least two inter-wheel differentials.

12. A computer-implemented method for assisting in maneuvering a set of differentials (30) of a vehicle (1), comprising: Obtaining (201, 701) path information of a path (100) that the vehicle (1) has traveled or will travel via a processing circuit (902) of a computer system (900), wherein the path information indicates a friction force and / or a slope of a target area (50) in a driving direction (D) of the vehicle (1), obtaining (202, 702) vehicle motion information of the vehicle (1) through the processing circuit (902), the vehicle motion information indicating a current vehicle speed of the vehicle (1), obtaining (203, 703) a reference vehicle motion of the target area (50) by the processing circuit (902), the reference vehicle motion indicating a reference vehicle speed of the target area (50), predicting (204, 704) an acceleration request to be performed by the vehicle (1) in the target area (50) based on the vehicle motion information and the reference vehicle motion by the processing circuit (902), The method comprises determining (205, 705) by the processing circuit (902) a longitudinal force required to drive the vehicle (1) in the driving direction (D) based on the vehicle motion information, the path information and the mass of the vehicle (1), predicting (207a, 707a), by the processing circuit (902), based on the acceleration request, the path information, and the mass of the vehicle (1), a first longitudinal force of the vehicle (1) when the set of differentials (30) are configured according to a current configuration, and predicting (207b, 707b) one or more second longitudinal forces of the vehicle (1) using one or more differential locking configurations associated with locking or unlocking one or more differentials in the set of differentials (30), Selecting (208, 708), by the processing circuit (902), a differential locking configuration from the one or more differential locking configurations for use with the vehicle (1) when the first longitudinal force does not satisfy a required longitudinal force, the selected differential locking configuration being associated with a second longitudinal force that is equal to or greater than the required longitudinal force.

13. The method according to claim 12, further comprising: predicting (206), by the processing circuit (902), based on the path information, one or more vertical loads applied to one or more axles and / or one or more wheels of the vehicle (1); and predicting (207a, 207b), by the processing circuit (902), the first longitudinal force and / or the one or more second longitudinal forces based on the predicted vertical load, and Optionally, determining (209), by the processing circuit (902), a steering capability of the vehicle (1) when using the selected differential locking configuration in the target area (50), and Optionally, the processing circuit (902) estimates (210) a steering compensation required to maintain the vehicle (1) trajectory and / or to maintain the vehicle (1) within the boundaries of the target area (50) based on the path information and the steering capability, and Optionally, determining (211) by the processing circuit (902) whether to apply the selected differential locking configuration before reaching the target area (50) based on the estimated required steering compensation, Optionally, applying (212) the selected differential locking configuration by the processing circuit (902) prior to reaching the target area (50), Optionally, wherein the one or more differential locking configurations include locking an inter-wheel differential in the set of differentials (30), and / or wherein the one or more differential locking configurations include locking an inter-axle differential in the set of differentials (30), and Optionally, the path information is at least partially based on measurement results of one or more measurement vehicles that have previously traveled through the target area (50).

14. A computer program product comprising program code for performing the method according to any one of claims 12 to 13 when executed by a processing circuit (902).

15. A non-transitory computer-readable storage medium comprising instructions which, when executed by a processing circuit (902), cause the processing circuit (902) to perform the method of any one of claims 12 to 13.

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