{
  "$type": "site.standard.document",
  "description": "A computer-implemented method performed in a vehicle control unit for controlling motion of a heavy-duty vehicle, the method comprising obtaining a vehicle motion request, wherein the vehicle motion request is indicative of a target curvature cand a target acceleration a, determining a motion…",
  "path": "/patents/1364471",
  "publishedAt": "2024-06-06T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/045",
    "Volvo Truck Corporation"
  ],
  "textContent": "A computer-implemented method performed in a vehicle control unit for controlling motion of a heavy-duty vehicle, the method comprising obtaining a vehicle motion request, wherein the vehicle motion request is indicative of a target curvature cand a target acceleration a, determining a motion support device (MSD) control allocation (T/λ/ω/δ) based on the vehicle motion request, determining a dynamic longitudinal wheel slip limit (λ/ω) based on the vehicle motion request and separately from the MSD control allocation, where the dynamic longitudinal wheel slip limit increases with a decreasing target curvature, and controlling the motion of the heavy-duty vehicle based on the MSD control allocation constrained by the dynamic longitudinal wheel slip limit.",
  "title": "VEHICLE CONTROL BASED ON DYNAMICALLY CONFIGURED LONGITUDINAL WHEEL SLIP LIMITS"
}