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 c.sub.req and a target acceleration a.sub.req, determining a motion support device (MSD) control allocation (T.sub.i/.sub.i/.sub.i/.sub.i) based on the vehicle motion request, determining a dynamic longitudinal wheel slip limit (.sub.lim/.sub.lim) 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.

A computer implemented method for controlling at least one driven and/or braked wheel of a heavy-duty vehicle. The method includes obtaining a motion request indicative of a desired longitudinal acceleration and/or longitudinal force associated with the vehicle, and configuring a wheel slip limit value indicative of a maximum allowable wheel slip by the at least one driven and/or braked wheel at a nominal value, and increasing the wheel slip limit value from the nominal value to a boost wheel slip value in response to detecting a boost signal, as well as controlling the at least one driven and/or braked wheel in dependence of the motion request and subject to the wheel slip limit value.

A brake torque bias control system for a host vehicle is disclosed. The brake torque bias control system includes: devices configured to generate signals; and a control module configured, based on the signals, to bias a first amount of brake torque applied to a first side of the host vehicle to be greater than a second amount of brake torque applied to a second side of the host vehicle.

Provided is a brake system capable of improving the running stability during parking brake application, the brake system including: a service brake capable of generating a first braking force on a vehicle; and a parking brake capable of generating a second braking force on the vehicle. The brake system includes a hardware processor that controls the first braking force according to the vehicle speed of the vehicle and controls the second braking force according to the vehicle speed.

A vehicle control system includes a controller comprising one or more processors. The controller is configured to determine a respective force exerted on a route segment by a first wheel of a plurality of wheels of a vehicle and obtain a respective available adhesion value for the first wheel at an interface with the route segment. The controller is configured to determine a respective effective adhesion value to utilize for driving rotation of the first wheel. The effective adhesion value is within a designated wheelslip margin relative to the available adhesion value for the first wheel without exceeding the available adhesion value. The controller is further configured to assign a torque setting to rotate the first wheel based at least in part on the respective force exerted on the route segment by the first wheel and the effective adhesion value for the first wheel.