Inverse tyre model boost function for a heavy-duty vehicle
A computer implemented method for controlling at least one driven and/or braked wheel of a heavy-duty vehicle includes configuring a default inverse tire model and a boost inverse tire model, where each inverse tire model represents a respective relationship between longitudinal wheel slip and longitudinal wheel force at the wheel, where the boost inverse tire model is associated with a higher maximum obtainable wheel slip value for the wheel compared to the default inverse tire model, obtaining a motion request indicative of a desired longitudinal force to be generated by the wheel, selecting the boost inverse tire model as active inverse tire model in response to detecting a boost signal and selecting the default inverse tire model as active inverse tire model otherwise, and controlling the at least one driven and/or braked wheel in dependence of the motion request and based on the active inverse tire model.
1 . A computer implemented method for controlling at least one driven and/or braked wheel of a heavy-duty vehicle, the method comprising
configuring a default inverse tire model and a boost inverse tire model, where each inverse tire model represents a respective relationship between longitudinal wheel slip and longitudinal wheel force at the wheel, where the boost inverse tire model is associated with a higher maximum obtainable wheel slip value for the wheel compared to the default inverse tire model, obtaining a motion request indicative of a desired longitudinal force to be generated by the wheel,
selecting the boost inverse tire model as active inverse tire model in response to detecting a boost signal and selecting the default inverse tire model as active inverse tire model otherwise, wherein the boost signal is arranged to be manually triggered by operation of a trigger device, and controlling the at least one driven and/or braked wheel in dependence of the motion request and based on the active inverse tire model.
2 . The method according to claim 1 , comprising configuring the boost inverse tire model with a peak longitudinal wheel force that corresponds to a higher wheel slip value compared to the default inverse tire model peak longitudinal wheel force.
3 . The method according to claim 1 , comprising configuring the boost inverse tire model with a smaller slip stiffness value compared to the default inverse tire model.
4 . The method according to claim 1 , comprising configuring the boost inverse tire model with a higher wheel slip limit compared to the default inverse tire model.
5 . The method according to claim 1 , comprising obtaining the motion request as function of an accelerator pedal position or a brake pedal position of the heavy-duty vehicle.
6 . The method according to claim 1 , comprising obtaining the motion request from a motion support device coordination function of a vehicle motion management system comprised in the heavy-duty vehicle or from an autonomous or semi-autonomous drive function comprised in the vehicle.
7 . The method according to claim 1 , wherein the trigger device comprises an accelerator pedal and/or a brake pedal, and wherein the boost signal is triggered by an accelerator pedal position or brake pedal position exceeding a pre-determined threshold value.
8 . The method according to claim 1 , wherein the boost signal is conditioned on that the vehicle is operating at a velocity below a vehicle velocity acceptance threshold.
9 . The method according to claim 1 , wherein the boost signal is conditioned on that the vehicle is operating at a yaw motion below a vehicle yaw motion acceptance threshold.
10 . The method according to claim 1 , comprising determining a lateral force requirement of the at least driven and/or braked wheel, wherein the boost signal is conditioned on that the lateral force requirement is below a lateral force requirement threshold.
11 . The method according to claim 1 , comprising updating the default inverse tire model in response to detecting the boost signal.
12 . A non-transitory computer readable medium storing a computer program comprising program code for performing the steps of claim 1 when the program is run on a computer.
13 . A control unit for controlling at least one driven and/or braked wheel of a heavy-duty vehicle, the control unit comprising processing circuitry arranged to configure a default inverse tire model and a boost inverse tire model, where each inverse tire model represents a respective relationship between longitudinal wheel slip and longitudinal wheel force at the wheel, where the boost inverse tire model is associated with a higher maximum obtainable wheel slip value for the wheel compared to the default inverse tire model, obtain a motion request indicative of a desired longitudinal force to be generated by the wheel, select the boost inverse tire model as active inverse tire model in response to detecting a boost signal and selecting the default inverse tire model as active inverse tire model otherwise, wherein the boost signal is arranged to be manually triggered by operation of a trigger device, and control the at least one driven and/or braked wheel in dependence of the motion request and based on the active inverse tire model.
14 . A heavy-duty vehicle comprising a control unit according to claim 13 .