Method of controlling a heavy-duty vehicle in a slope

1. A method of controlling a heavy-duty vehicle in a slope when the vehicle has come to a standstill due to service brakes of the vehicle having applied a service brake force, the method comprising:

determining a total brake force required for maintaining the vehicle at standstill;

activating at least one park brake for providing a park brake force;

gradually increasing the park brake force; and

while the park brake force is gradually increased, gradually reducing the service brake force while maintaining the sum of the service brake force and the park brake force at least equal to the determined total brake force;

wherein:

the step of activating the at least one park brake is performed after a configurable time period;

the configurable time period is dependent on one or more of the following parameters:

a slope of the road surface; and/or

a load carried by the vehicle; and

the method further comprising configuring a length of the configurable time period to be inversely related to a weight of a load and/or inversely related to a steepness of a slope.

2. The method of claim 1 , wherein the total brake force is calculated and determined based on one or more of the following parameters:

a slope of a road surface;

a load carried by the vehicle; and/or

friction between tires of the vehicle and the road surface.

3. The method of claim 1 , further comprising:

setting a safety margin so that the sum of the service brake force and the park brake force is maintained at least equal to the determined total brake force plus the safety margin.

4. The method of claim 1 , wherein the vehicle comprises a truck unit which tows a trailer unit, the method further comprising:

allocating, between wheel axles of the truck unit and wheel axles of the trailer unit, a force distribution of the total brake force in dependence on the load carried by the respective wheel axles.

5. The method of claim 1 , further comprising:

allocating a force distribution between the service brake force and the park brake force based on a defined service brake force function.

6. The method of claim 1 , further comprising:

releasing the service brake and the park brake upon receipt of a propulsion request.

7. The method of claim 1 , further comprising:

taking available vehicle motion sensor data into account to detect movement of the vehicle; and

when movement is detected, gradually increasing the service brake force to return the vehicle to standstill.

8. The method of claim 7 , wherein the determined total brake force is set to be, or reset to be, at least equal to the service brake force that has been applied to return the vehicle to standstill in response to the detection of movement.

9. The method of claim 1 , wherein the steps are performed autonomously as part of an adaptive cruise control mode of the vehicle.

10. The method of claim 1 , wherein the steps are performed in response to a driver-initiated auto-hold command.

11. The method of claim 1 , wherein the vehicle comprises a truck unit which tows a trailer unit, wherein the service brake force is distributed between the truck unit and the trailer unit, and wherein the park brake force is applied only to the truck unit.

12. A non-transitory computer readable medium carrying a computer program comprising program code means for performing the steps of claim 1 when the program code is run on a computer.

13. A control unit circuit for controlling a heavy-duty vehicle in a slope, the control unit circuit being configured to perform the steps of the method according to claim 1 .

14. A vehicle, comprising:

the control unit circuit of claim 13 ;

at least a first sensor for measuring a slope of the road surface; and

at least a second sensor for measuring a load carried by the vehicle;

wherein the control unit circuit is configured to receive measurement data from the first and second sensors.