A motion support device, MSD, control unit (230) for a heavy duty vehicle (100), configured to control one or more MSDs (220, 250) associated with a wheel (210) on the vehicle (100),wherein the MSD control unit (230) is arranged to be communicatively coupled (235) to a vehicle motion management, VMM, (260), unit for receiving control commands from the VMM unit (260) comprising wheel speed and/or wheel slip requests to control vehicle motion by the one or more MSDs (220, 250),where the MSD control unit (230) is arranged to obtain a capability range indicating a range of wheel behaviors of the wheel (210) for which the VMM unit (260) is allowed to influence the behavior of the wheel by the control commands, andwherein the MSD control unit (230) is arranged to monitor wheel behavior and to detect if wheel behavior is outside of the capability range,wherein the MSD control unit (230) is arranged to trigger a control intervention function in case the monitored wheel behavior is outside of the capability range.
VEHICLE MOTION MANAGEMENT WITH A REDUNDANT WHEEL CONTROL SAFETY NET FUNCTION
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