{
  "$type": "site.standard.document",
  "description": "A computer-implemented method performed in a vehicle control unit (130, 140) for controlling motion of a heavy-duty vehicle (100), the method comprising obtaining (S1) a vehicle motion request, wherein the vehicle motion request is indicative of a target curvature (c) and a target acceleration (a)…",
  "path": "/patents/1401884",
  "publishedAt": "2024-10-30T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60T8/17552",
    "VOLVO TRUCK CORP [SE]"
  ],
  "textContent": "A computer-implemented method performed in a vehicle control unit (130, 140) for controlling motion of a heavy-duty vehicle (100), the method comprising obtaining (S1) a vehicle motion request, wherein the vehicle motion request is indicative of a target curvature (c) and a target acceleration (a), determining (S2) a motion support device, MSD, control allocation (T/ λ/ ω / δ) based on the vehicle motion request, determining (S3) a dynamic wheel slip angle limit (α) based on the vehicle motion request, where dynamic wheel slip angle limit (α) increases with a decreasing target acceleration (a), and controlling (S4) the motion of the heavy-duty vehicle (100) based on the MSD control allocation constrained by the dynamic wheel slip angle limit (α).",
  "title": "VEHICLE CONTROL BASED ON A DYNAMICALLY CONFIGURED SIDESLIP LIMIT"
}