Dynamic Tyre Model for Heavy-Duty Vehicle Motion Control
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Solution Overview
Problem
Existing vehicle motion management systems for heavy-duty vehicles, such as trucks and semi-trailers, struggle with excessive wheel slip, unpredictable behavior, and inefficient energy consumption due to inadequate tire modeling and control strategies.
Innovation Solution
A method and control unit that utilize real-time tire models dynamically adapted to tire parameters, including wheel slip, force generation, and tire wear, to optimize vehicle motion by coordinating motion support devices for improved traction, reduced rolling resistance, and extended tire life.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a static tyre model is used in vehicle motion management, then the control system is simple, but the model accuracy deteriorates over time as tyre properties change
Solution Approach 1:
The patent implements a dynamic tyre model that automatically updates tyre parameters (such as friction coefficients, stiffness, and wear characteristics) in real-time based on sensor measurements and operational conditions. This replaces static, pre-defined tyre models with adaptive models that evolve with tyre degradation and changing road conditions, thereby maintaining high accuracy without requiring manual intervention or system redesign
Solution Approach 2:
The control system performs self-calibration by using sensor data from the vehicle and environment to automatically adjust tyre model parameters. The system monitors its own performance and adapts the tyre model without external assistance, ensuring continuous accuracy while keeping the control architecture relatively simple through automated parameter estimation algorithms
2Power
If excessive torque is applied to wheels, then vehicle acceleration and traction are improved, but wheel slip increases causing unpredictable behavior and energy inefficiency
Solution Approach 1:
The patent implements a closed-loop control system that continuously monitors wheel slip, tyre forces, and vehicle dynamics using sensors. The controller compares actual wheel slip against desired limits and adjusts the torque applied to each wheel in real-time. This feedback mechanism prevents excessive wheel slip while maintaining optimal traction, ensuring predictable vehicle behavior and energy-efficient operation during acceleration and braking maneuvers
Solution Approach 2:
The system dynamically adjusts torque distribution parameters based on real-time tyre model parameters and operating conditions. By changing torque allocation strategies according to current tyre friction characteristics, wheel slip conditions, and vehicle state, the system optimizes acceleration performance while preventing excessive slip that would lead to unpredictable behavior
3Use of energy by moving object
If regenerative braking torque is increased for energy recovery, then energy efficiency is improved, but wheel slip and loss of control increase
Solution Approach 1:
The patent employs a feedback control mechanism that monitors wheel slip during regenerative braking and dynamically adjusts the braking torque distribution. The controller balances energy recovery objectives with maintaining adequate wheel grip, reducing regenerative braking torque when slip exceeds thresholds and supplementing with friction braking when necessary. This ensures energy-efficient operation while maintaining predictable and controllable braking behavior
Solution Approach 2:
The system applies regenerative braking torque selectively and partially rather than maximally at all times. By modulating the regenerative braking effort based on real-time tyre adhesion conditions and wheel slip measurements, the system achieves sufficient energy recovery without exceeding the tyre's friction capacity, thereby preventing loss of control
4Use of energy by moving object
If tyre wear is not monitored, then the system is simple, but energy efficiency deteriorates due to increased rolling resistance
Solution Approach 1:
The patent implements a self-monitoring tyre model that automatically tracks tyre wear, temperature, pressure, and other degradation indicators using existing vehicle sensors. The system estimates tyre condition parameters through parameter estimation algorithms that process sensor data without requiring additional dedicated wear sensors. This automated monitoring maintains energy efficiency by detecting tyre degradation early while keeping the system architecture simple through reuse of existing sensor infrastructure
Data Source
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AI summary
A method for controlling motion of a heavy-duty vehicle (100), the method comprising obtaining input data related to one or more parameters of a tyre (150, 160, 170) on the heavy-duty vehicle (100), determining at least part of the one or more tyre parameters based on the input data, configuring a tyre model, wherein the tyre model defines a relationship between wheel slip and generated wheel force, wherein the tyre model is parameterized by the one or more tyre parameters, and controlling the motion of the heavy-duty vehicle based on the relationship between wheel slip and generated wheel force.