Patent ID: 11926326
Assignee: VOLVO TRUCK CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B  Y | IPC B

Claim 0:
1. A system for controlling wheel slip of a vehicle, wherein the vehicle comprises at least two wheels driven by at least one primary actuator via an open differential, and individual secondary actuators for providing additional force to individual wheels, respectively,
the system comprising a vehicle control unit (“VCU”) and a motion support device, (MSD),
wherein the VCU is configured to:
request the primary actuator to rotate at a speed resulting in a slip λem of the primary actuator,
determine a signed wheel slip limit λlim by adding a configurable value to the slip λem of the primary actuator, such that λlim>λem, and
send a control signal to the MSD for controlling said at least two wheels of the vehicle to rotate at wheel speeds resulting in respective wheel slips λl, λr below the signed wheel slip limit λlim, wherein each one of λl, λr and λem are signed numerical values,

wherein the MSD, is configured to:
receive said control signal from the VCU,
calculate a current respective wheel slip λl, λr of each one of said at least two wheels or a current respective rotational speed which is transformable into said respective wheel slip λl, λr, and
based on the received control signal, when one of the current respective wheel slips λl, λr exceeds the signed wheel slip limit λlim, then the MSD is configured to activate the respective secondary actuator to the wheel having the exceeding wheel slip in order to transfer torque to the other wheel(s).