Method for validating a model associated with vehicle dynamics
A method for validating a model of vehicle dynamics for use in autonomous driving. The method comprising setting a wheel slip limit on an operation of at least one vehicle torque device, obtaining a model of vehicle dynamics based on the set wheel slip limit, and validating the model of vehicle dynamics based on the set wheel slip limit.
1. A computer implemented method for validating a model of vehicle dynamics for use in autonomous driving, the method comprising:
determining a maximum wheel slip limit;
setting a wheel slip limit on an operation of at least one vehicle torque device based on the maximum wheel slip limit;
obtaining a model associated with vehicle dynamics, the model of vehicle dynamics being a model representing a relationship between a lateral tire force acting on a vehicle and a wheel slip value, with the wheel slip value being restricted within the wheel slip limit;
validating the model of vehicle dynamics based on the set wheel slip limit; and controlling the at least one vehicle torque device based on the set wheel slip limit, wherein the wheel slip limit comprises a limit on a longitudinal tire slip, s x , given by s x =
R
ω
-
v
x
❘
"\[LeftBracketingBar]"
R
ω
❘
"\[RightBracketingBar]"
,
where R denotes a radius of a wheel tire, ω denotes an angular velocity of the wheel tire and v x denotes a longitudinal speed of the tire, wherein the wheel slip limit comprises a limit on a lateral tire slip, S yt , given by where v y denotes a tire translational velocity, R denotes a radius of a wheel tire, and ω denotes an angular velocity of the wheel tire.
2. The method according to claim 1 , wherein the at least one vehicle torque device comprises a braking device.
3. The method according to claim 1 , wherein the at least one vehicle torque device comprises a propulsion device.
4. The method according to claim 1 , comprising setting a wheel slip control bandwidth requirement or rise time requirement on the operation of the at least one vehicle torque device.
5. The method according to claim 1 , wherein the wheel slip limit is configured in dependence of a road friction condition or a road friction coefficient μ.
6. The method according to claim 1 , wherein the wheel slip limit comprises a range of acceptable wheel slip values and a tolerance value indicating a required wheel slip control precision.
7. The method according to claim 1 , wherein the model of vehicle dynamics comprises a lateral steering capability.
8. The method according to claim 1 , wherein the model of vehicle dynamics models a lateral tire force F y acting on the vehicle.
9. The method according to claim 1 , wherein the model of vehicle dynamics comprises a cornering stiffness value associated with the vehicle.
10. The method according to claim 1 , comprising transmitting one or more model capabilities corresponding to the validated model of vehicle traffic situation management unit.
11. The method according to claim 1 , wherein the model of vehicle dynamics is an explicit model of vehicle dynamics.
12. The method according to claim 1 , wherein the model of vehicle dynamics is arranged to account for a tire and/or torque device wear effect.
13. The method according to claim 1 , wherein the model of vehicle dynamics is arranged to account for an axle load and/or an axle load distribution of the vehicle.
14. The method according to claim 1 , comprising authenticating the vehicle torque device to determine compliance with the wheel slip limit.
15. A non-transitory computer readable medium carrying a computer program comprising program code for performing the steps of claim 1 when said program code is run on a computer or on processing circuitry of a control unit.
16. The control unit arranged to validate a model of vehicle dynamics for use in autonomous driving, the control unit being configured to perform the steps of the method according to claim 1 .
17. The vehicle comprising the control unit according to claim 16 .