Vehicle motion management system and motion support device control system

JP7875182B2Active Publication Date: 2026-06-17VOLVO TRUCK CORP
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Patent Information

Authority / Receiving Office
JP · JP
Patent Type
Patents
Current Assignee / Owner
VOLVO TRUCK CORP
Filing Date
2021-09-07
Publication Date
2026-06-17

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Abstract

A vehicle motion management (VMM) system for a heavy vehicle configured to: obtain a desired wheel force value for at least one wheel of the vehicle; determine a torque limit for a first motion support device (MSD) associated with the at least one wheel based on the desired wheel force value; determine a tire model based on a relationship between the wheel force and wheel speed of the at least one wheel; determine a desired wheel speed of the first MSD based on the tire model; and determine a torque compensation request for a second MSD of the heavy vehicle based on the desired wheel force and the torque capability of the first MSD; wherein the VMM system is further configured to: determine the torque compensation request for the second MSD in accordance with the torque limit of the first MSD when the operating torque of the first MSD is limited by the torque limit; and determine the torque compensation request for the second MSD in accordance with an applied torque state signal received from the first MSD when the operating torque of the first MSD is not limited by the torque limit.
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Claims

1. A vehicle motion management (VMM) system (660) for large vehicles, The VMM system (660) is connectable to the MSD control system (630) in order to communicate control signals with the MSD control system (630). The VMM system is Obtaining parameter values ​​relating to a desired wheel force of at least one wheel of a vehicle, wherein the wheel force is tire force, and the parameter values ​​relating to the desired wheel force relate to the desired wheel force and / or desired wheel torque, Based on the parameter values ​​relating to the desired wheel force, the torque limit of the first MSD associated with the at least one wheel is determined. A tire model is determined based on the relationship between the wheel force and wheel speed of at least one of the wheels, wherein the tire model is configured for the conversion between a desired tire longitudinal force and wheel slip. Based on the tire model, determining a parameter value relating to a desired wheel speed of the first MSD associated with at least one wheel, wherein the wheel speed is defined as wheel slip or wheel rotation speed, Based on the desired wheel force and the torque capacity of the first MSD, the torque compensation requirement for the second MSD of the large vehicle (100) is determined. The means of transmitting a control signal to the MSD control system (630), wherein, when executed by the MSD control system (630), the control signal is configured to cause the MSD control system (630) to generate operating torque by the first MSD, which is executed in accordance with the torque limit and the desired wheel speed, and to generate operating torque by the second MSD, which is executed in accordance with the torque compensation request. It is configured to do the following: The VMM system (660) further includes: Receiving a limit status signal associated with the first MSD, which indicates whether the operating torque of the first MSD is limited by the torque limit; When the operating torque of the first MSD is limited by the torque limit, the torque compensation request to the second MSD is determined in accordance with the torque limit of the first MSD, and when the operating torque of the first MSD is not limited by the torque limit, the torque compensation request to the second MSD is determined in accordance with the applied torque status signal received from the first MSD. A VMM system (660) configured to perform the following actions.

2. The VMM system (660) according to claim 1, wherein the limit status signal associated with the first MSD includes information indicating whether the first MSD is operating in a speed limit operation mode.

3. The VMM system (660) according to claim 1 or 2, wherein the limiting state signal associated with the first MSD includes information indicating whether the first MSD is operating at a motor shaft speed within a predetermined margin from the requested motor shaft speed.

4. The VMM system (660) according to any one of claims 1 to 3, wherein the limit state signal associated with the first MSD is configured to take into account driving at a vehicle speed below a low-speed threshold.

5. The VMM system (660) according to any one of claims 1 to 4, wherein the tire model is based on predetermined characteristic values ​​of at least one wheel.

6. The VMM system (660) according to any one of claims 1 to 5, wherein the tire model is based on a relationship between wheel force and wheel speed of a predetermined wheel characteristic of the at least one wheel.

7. The VMM system (660) according to any one of claims 1 to 6, wherein the tire model is based on safety parameters indicating the current driving conditions of the vehicle.

8. The VMM system (660) according to any one of claims 1 to 7, wherein the parameter value relating to the desired wheel speed is related to the desired wheel slip.

9. The VMM system (660) according to any one of claims 1 to 8, wherein the torque limit is determined independently of the determined tire model.

10. The tire model is the first tire model, and the VMM system is Determining a second tire model, wherein the second tire model is based on increased wheel force compared to the first tire model for each wheel speed. A VMM system (660) according to any one of claims 1 to 9, configured to perform the following:

11. The torque limit is a first torque limit, and the VMM system is Based on the second tire model, it is configured to determine a second torque limit with respect to a desired wheel speed, The VMM system (660) according to claim 10, wherein the transmitted control signal is configured to cause the MSD control system (630), when executed by the MSD control system (630), to generate the operating torque that is performed in accordance with the desired wheel speed and the first torque limit and the second torque limit.

12. The VMM system (660) according to claim 10 or 11, wherein the first tire model and the second tire model are determined based on a predetermined range between wheel force values ​​for a specific wheel speed.