A method for propelling of a vehicle comprising a power train with an electric motor connected to a location in the vehicle intended for mounting of an energy supply unit intended for driving of the electric motor during normal operating conditions of the vehicle is described. The method comprises the steps of: connecting an electric power source to a power connection element mounted on the vehicle and being connected to the electric motor and to the location, disconnecting the location in order to accomplish a direct connection between the power connection element and the electric motor and propelling the vehicle by means of the electric motor powered by electricity from the electric power source. A method for manufacturing of a vehicle comprising a power train with an electric motor and a vehicle comprising a power train with an electric motor are also described herein.

A vehicle comprising an electrically driven wheel axle having at least two road wheels, an electric machine for providing propulsion power to the wheel axle, and a control unit configured to obtain positional data of the vehicle, the positional data containing information about the geographical location of the vehicle or the location of the vehicle relative to a reference point/area. Upon determination by the control unit that the vehicle's current location is a location where propelling by providing electric propulsion to the wheel axle is not permitted, the control unit is configured to generate an output signal which automatically causes, or which suggests via a user interface notification to cause, a temporary disablement of the wheel axle and the at least two road wheels from providing a contribution to the propulsion power that propels the vehicle. A method of controlling a vehicle is also disclosed.

A vehicle comprising an electrically driven wheel axle having at least two road wheels, an electric machine for providing propulsion power to the wheel axle, and a control unit configured to obtain positional data of the vehicle, the positional data containing information about the geographical location of the vehicle or the location of the vehicle relative to a reference point/area. Upon determination by the control unit that the vehicle's current location is a location where propelling by providing electric propulsion to the wheel axle is not permitted, the control unit is configured to generate an output signal which automatically causes, or which suggests via a user interface notification to cause, a temporary disablement of the wheel axle and the at least two road wheels from providing a contribution to the propulsion power that propels the vehicle. A method of controlling a vehicle is also disclosed.

The disclosure relates to a method for actuating an electric drive of a trailer vehicle with a towing vehicle, including the steps: determining a current slip of at least one driven wheel of a towing vehicle pulling the trailer vehicle, determining an expected slip for the driven wheel of the towing vehicle, determining an acceleration demand depending on the determined current slip and the determined expected slip and actuating the electric drive depending on the acceleration demand. The disclosure also relates to a control unit for executing the method, a towing vehicle, a trailer vehicle and a vehicle combination.

The disclosure relates to a method for actuating an electric drive of a trailer vehicle with a towing vehicle, including the steps: determining a current slip of at least one driven wheel of a towing vehicle pulling the trailer vehicle, determining an expected slip for the driven wheel of the towing vehicle, determining an acceleration demand depending on the determined current slip and the determined expected slip and actuating the electric drive depending on the acceleration demand. The disclosure also relates to a control unit for executing the method, a towing vehicle, a trailer vehicle and a vehicle combination.

Vehicles can be equipped to operate in both autonomous and occupant piloted mode. Refueling stations can be equipped to refuel autonomous vehicles without occupant assistance. Refueling stations can be equipped with a fueling control computer that communicates with vehicles via wireless networks to move vehicles between waiting zones, service zones and served zones. Refueling stations can include liquid fuel, compressed gas and electric charging.

Vehicles can be equipped to operate in both autonomous and occupant piloted mode. Refueling stations can be equipped to refuel autonomous vehicles without occupant assistance. Refueling stations can be equipped with a fueling control computer that communicates with vehicles via wireless networks to move vehicles between waiting zones, service zones and served zones. Refueling stations can include liquid fuel, compressed gas and electric charging.

A vehicle includes an electric machine and a controller. The controller is programmed to responsive to a threshold difference, indicative of wheel slip, between average wheel speed and a vehicle speed that is based on a difference between wheel acceleration and measured vehicle acceleration, command a speed to the electric machine to reduce the wheel slip.

A vehicle includes an electric machine and a controller. The controller is programmed to responsive to a threshold difference, indicative of wheel slip, between average wheel speed and a vehicle speed that is based on a difference between wheel acceleration and measured vehicle acceleration, command a speed to the electric machine to reduce the wheel slip.

The present invention discloses an iterative learning control (ILC) method for a multi-particle vehicle platoon driving system, and relates to the field of ILC. The method includes: firstly, discretizing a multi-particle train dynamic equation using a finite difference method to obtain a partial recurrence equation, and then transforming the partial recurrence equation into a spatially interconnected system model; secondly, transforming the spatially interconnected system model into an equivalent one-dimensional dynamic model using a lifting technology, and in order to compensate input delay, designing an ILC law based on a state observer, and thirdly, transforming a controlled object into an equivalent discrete repetitive process according to the ILC law, and converting a controller combination problem into a linear matrix inequality based on stability analysis of the repetitive process. The method is simple and easy to implement, considers structure uncertainty of the system, and has a good control performance and robustness.