A method (300) of control allocation in a multi-unit vehicle combination is provided, wherein the units (110a, 110b) include actuators configured to generate propulsion and/ or braking forces. The method includes receiving a virtual control input (v) for the vehicle combination as a whole, solving (320) a control allocation problem to find a true control input (u) for the actuators, including attempting to minimize a difference between the true control input and a reference control input (u ref ). The method includes controlling the actuators based on the true control input. In particular, the method includes generating (330) the reference control input such that a) capabilities ( u and ū) of the actuators are taken into account, and b) such that a longitudinal force contribution of one vehicle unit does not counteract the contribution of another vehicle unit. A controller, vehicle unit, vehicle unit combination, computer program and computer program product are also provided.


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    Title :

    ACTUATOR CAPABILITY-DRIVEN CONTROL ALLOCATION IN MULTI UNIT VEHICLE COMBINATIONS


    Additional title:

    AKTORFÄHIGKEITSGETRIEBENE STEUERZUWEISUNG BEI MEHREINHEITEN-FAHRZEUGKOMBINATIONEN
    ATTRIBUTION DE COMMANDE PILOTÉE PAR CAPACITÉ D'ACTIONNEUR DANS DES COMBINAISONS DE VÉHICULES À UNITÉS MULTIPLES


    Contributors:
    HANSSON AXEL (author) / ANDERSSON ERIK (author) / LAINE LEO (author)

    Publication date :

    2025-04-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge



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