EP4626759A1 - Adjustment of global forces for vehicle control - Google Patents

Abstract

A computer-implemented method for motion control of a vehicle is disclosed. The vehicle comprises motion support devices for actuating the vehicle, and the motion control comprises application (120, 160) of a control allocation problem for transforming a plurality of global forces elements to a collection of actuator request elements for operating the motion support devices. The method comprises – for the global forces elements considered in an order of priority (130, 155) – determining (140) lower and upper bounds for the considered global forces element based on lower and upper bounds for the actuator request elements and a transfer function, and – responsive (145) to a value of the considered global forces element falling outside of the determined lower and upper bounds for the considered global forces element – adjusting (150) the value of the considered global forces element to one of the determined lower and upper bounds for the considered global forces element which is closest to the value of the considered global forces element. Corresponding systems, computer program products,apparatus, and vehicle are also disclosed.

Description

Docket No.: P2022-0879WO01 S&G ref: W178640057 ADJUSTMENT OF GLOBAL FORCES FOR VEHICLE CONTROL TECHNICAL FIELD [0001] The disclosure relates generally to vehicle motion management. In particular aspects, the disclosure relates to adjustment of global forces for vehicle control. The disclosure can be applied in heavy-duty vehicles, such as trucks, buses, and construction equipment. Although the disclosure may be described with respect to a particular vehicle, the disclosure is not restricted to any particular vehicle. BACKGROUND [0002] For motion control, a vehicle typically comprises a plurality of motion support devices (MDSs) for actuating the vehicle. Example motion support devices (e.g., in relation to a controllable wheel of the vehicle) include an orientation device, a propulsion device, and a braking device. [0003] Motion requests (e.g., representing a desired acceleration and/or a desired curvature) may be used for determining actuator requests. The actuator requests are used to control the operation of the motion support devices. [0004] In some examples, a plurality of global forces elements are derived based on the motion requests, and a control allocation problem is applied for transforming the global forces elements to the actuator requests. For example, the control allocation problem may comprise minimizing the overall power loss subject to respective operating limits of the motion support devices. [0005] A problem in this respect is that the control allocation problem might not have a solution (or only solution(s) with undesirable characteristics) in all scenarios. [0006] Therefore, there is a need for improved approaches for determining actuator requests. SUMMARY [0007] Various aspects may aim to solve or mitigate, alleviate, or eliminate at least some of the above or other disadvantages. Docket No.: P2022-0879WO01 S&G ref: W178640057 [0008] According to a first aspect of the disclosure, there is provided a computer system comprising a processor device configured to perform motion control of a vehicle, wherein the vehicle comprises a plurality of motion support devices for actuating the vehicle, and wherein the motion control comprises application of a control allocation problem for transforming a plurality of global forces elements to a collection of actuator request elements for operating the plurality of motion support devices. The processor device is further configured to – for the global forces elements considered in an order of priority – determine lower and upper bounds for the considered global forces element, based on lower and upper bounds for the actuator request elements and a transfer function, and (responsive to a value of the considered global forces element falling outside of the determined lower and upper bounds for the considered global forces element) adjust the value of the considered global forces element to one of the determined lower and upper bounds for the considered global forces element which is closest to the value of the considered global forces element. [0009] The first aspect of the disclosure may seek to provide improved approaches for determining actuator requests. A technical benefit may include that the control allocation problem can be guaranteed to have a solution (or a solution with desirable characteristics). [0010] According to a second aspect of the disclosure, there is provided a computer- implemented method for motion control of a vehicle, wherein the vehicle comprises a plurality of motion support devices for actuating the vehicle, and wherein the motion control comprises application of a control allocation problem for transforming a plurality of global forces elements to a collection of actuator request elements for operating the plurality of motion support devices. The method comprises – for the global forces elements considered in an order of priority – determining, by a processor device of a computer system, lower and upper bounds for the considered global forces element, based on lower and upper bounds for the actuator request elements and a transfer function, and (responsive to a value of the considered global forces element falling outside of the determined lower and upper bounds for the considered global forces element) adjusting, by the processor device, the value of the considered global forces element to one of the determined lower and upper bounds for the considered global forces element which is closest to the value of the considered global forces element. Docket No.: P2022-0879WO01 S&G ref: W178640057 [0011] The second aspect of the disclosure may seek to provide improved approaches for determining actuator requests. A technical benefit may include that the control allocation problem can be guaranteed to have a solution (or a solution with desirable characteristics). [0012] In some examples, the adjustment is responsive to the control allocation problem lacking solution for the un-adjusted global forces elements. Thus, the adjustment may be applied when (e.g., only when) there is no solution to the control allocation problem, and a technical benefit may include reduced computational complexity and/or latency for the vehicle control compared to when the adjustment is applied more often. [0013] In some examples, the lower and upper bounds for the actuator request elements corresponds to capabilities of the motion support devices for consideration of the global forces element with highest priority. A technical benefit may include that the lower and upper bounds for the actuator request elements are readily available and need not be specifically derived for consideration of the global forces element with highest priority. [0014] In some examples, the method comprises – for consideration of global forces elements with lower priority than the highest priority – determining, by the processor device, the lower and upper bounds for the actuator request elements based on capabilities of the motion support devices, the transfer function, and the values – as adjusted – of global forces elements with higher priority than the considered global forces element. Thus, the guaranteed solution to the control allocation problem is provided by imposing increasingly restrictive constraints as the priority of the considered global forces element decreases. A technical benefit may include improved and/or more flexible vehicle control. [0015] In some examples, the capabilities of the motion support devices are dynamically variable. [0016] In some examples, the method comprises limiting, by the processor device, one or more global forces metric comprising a sum of values of two or more of the global forces elements. Thus, a cumulative global force value may be restricted (by an upper limit and/or a lower limit). A technical benefit may include improved grip control. [0017] In some examples, the method comprises applying, by the processor device, the control allocation problem for transforming the plurality of global forces elements – as adjusted – to the collection of actuator request elements, and providing, by the processor Docket No.: P2022-0879WO01 S&G ref: W178640057 device, the collection of actuator request elements for operation of the plurality of motion support devices. [0018] In some examples, the method comprises dynamically determining, by the processor device, the order of priority. A technical benefit may include improved and/or more flexible vehicle control. [0019] In some examples, the global forces elements are virtual global forces elements representing forces and/or moments applicable to the vehicle by the motion support devices. [0020] According to a third aspect of the disclosure, there is provided a computer program product comprising program code for performing, when executed by the processor device, the method of the second aspect. [0021] The third aspect of the disclosure may seek to convey program code for adjustment of global forces element value(s). A technical benefit may include that new vehicles and/or legacy vehicles may be conveniently configured, by software installation/update, to adjust global forces element value(s). [0022] According to a fourth aspect of the disclosure, there is provided a non-transitory computer-readable storage medium comprising instructions, which when executed by the processor device, cause the processor device to perform the method of the second aspect. [0023] The fourth aspect of the disclosure may seek to convey program code for adjustment of global forces element value(s). A technical benefit may include that new vehicles and/or legacy vehicles may be conveniently configured, by software installation/update, to adjust global forces element value(s). [0024] According to a fifth aspect of the disclosure, there is provided an apparatus for motion control of a vehicle, wherein the vehicle comprises a plurality of motion support devices for actuating the vehicle, and wherein the motion control comprises application of a control allocation problem for transforming a plurality of global forces elements to a collection of actuator request elements for operating the plurality of motion support devices. The apparatus comprises controlling circuitry configured to cause – for the global forces elements considered in an order of priority – determination of lower and upper bounds for the considered global forces element, based on lower and upper bounds for the actuator request elements and a transfer function, and (responsive to a value of the considered global forces element falling outside of the determined lower and upper bounds for the considered global Docket No.: P2022-0879WO01 S&G ref: W178640057 forces element) adjustment of the value of the considered global forces element to one of the determined lower and upper bounds for the considered global forces element which is closest to the value of the considered global forces element. [0025] The fifth aspect of the disclosure may seek to provide a device for adjustment of global forces element value(s). A technical benefit may include that new vehicles and/or legacy vehicles may be conveniently configured, by installation of the apparatus in the vehicle, to adjust global forces element value(s). [0026] In some examples, the controlling circuitry comprises a determiner configured to determine the lower and upper bounds for the considered global forces element, and a value adjuster configured to adjust the value of the considered global forces element. [0027] According to a sixth aspect of the disclosure, there is provided a vehicle control system comprising the apparatus of the fifth aspect and/or one or more control units configured to perform the method of the second aspect. [0028] According to a seventh aspect of the disclosure, there is provided a vehicle comprising one or more of: the apparatus of any of the fifth aspect, the control system of the sixth aspect, the computer system of the first aspect, and a processor device configured to perform the method of the second aspect. [0029] In some examples, any of the above aspects may additionally have features identical with or corresponding to any of the various features as explained above for any of the other aspects. [0030] The above aspects, accompanying claims, and/or examples disclosed herein above and later below may be suitably combined with each other as would be apparent to anyone of ordinary skill in the art. [0031] Additional features and advantages are disclosed in the following description, claims, and drawings, and in part will be readily apparent therefrom to those skilled in the art or recognized by practicing the disclosure as described herein. There are also disclosed herein control units, computer readable media, and computer program products associated with the above discussed technical benefits. Docket No.: P2022-0879WO01 S&G ref: W178640057 BRIEF DESCRIPTION OF THE DRAWINGS [0032] With reference to the appended drawings, below follows a more detailed description of aspects of the disclosure cited as examples. [0033] Further objects, features and advantages will appear from the detailed description, with reference being made to the accompanying drawings. [0034] The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the examples. [0035] FIG. 1 is a flowchart illustrating method steps according to some examples. [0036] FIG. 2 is a schematic drawing of a vehicle according to some examples. [0037] FIG. 3 is a schematic block diagram of a vehicle motion control system according to some examples. [0038] FIG. 4 is a schematic block diagram of vehicle motion management according to some examples. [0039] FIG. 5 is a schematic block diagram of a vehicle control system according to some examples. [0040] FIG. 6 is a schematic diagram of a computer system according to some examples. [0041] FIG. 7 is a schematic drawing of a computer readable medium according to some examples. [0042] FIG. 8 is a schematic block diagram of a control unit according to some examples. DETAILED DESCRIPTION [0043] Aspects set forth below represent the necessary information to enable those skilled in the art to practice the disclosure. [0044] Examples of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings. The solutions disclosed herein can, however, be realized in many different forms and should not be construed as being limited to the examples set forth herein. [0045] Generally, it should be noted that the principles of this disclosure may be applied to situations with a single-unit vehicle as well as situations with a multi-unit combination vehicle. In the latter case, the global forces could include yaw moments for each vehicle unit, Docket No.: P2022-0879WO01 S&G ref: W178640057 for example. Alternatively or additionally, capabilities of the motion support devices may be generalized to include unit-level motion capabilities together with – or instead of – device- level capabilities. For example, unit-level motion capabilities may comprise a braking effect capability of a vehicle unit; e.g., based on the capabilities of service brakes and/or electric drivelines of the vehicle unit. [0046] As already mentioned, a vehicle typically comprises a plurality of motion support devices, which can be used for motion control of the vehicle via actuation. Example motion support devices (e.g., in relation to a controllable wheel of the vehicle) include an orientation device, a propulsion device, and a braking device. [0047] The motion support devices may be operated based on actuator requests; i.e., actuator requests may be used to control the actuation performed by the motion support devices. Typically, an actuator request comprises a collection of actuator request elements ^ = ⁽^_^, ^_^, … , ^_^ ⁾, and the value of each actuator request element ^_^ may represent a control indication for one or more of the motion support devices. For example, an actuator request element value may represent steering angle to be applied to a particular wheel, and/or an actuator request element value may represent torque or rpm to be applied to a particular wheel, and/or an actuator request element value may represent a level of braking to be applied to a particular wheel. A motion support device may associated with a single actuator request element, or with two or more actuator request elements. [0048] The actuator requests may be derived based on a plurality of global forces elements ^ = ⁽^_^,^_^, … , ^_^ ⁾, ^ < ^, where the value of each global forces element ^_^ may represent a desired global motion control component for the vehicle (or for a unit of a multi- unit vehicle). For example, a global forces element value may represent a desired longitudinal force ^_^ to be applied to the vehicle, and/or a global forces element value may represent a desired lateral force ^_^ to be applied to the vehicle, and/or a global forces element value may represent a desired yaw moment ^_^ to be applied to the vehicle, etc. [0049] Generally, the global forces elements may be virtual global forces elements; e.g., representing forces and/or moments applicable to the vehicle by the motion support devices. Thus, the global forces elements may represent the vehicle forces/moments that it is possible to influence via the motion support devices. Put differently, the vehicle motion may be Docket No.: P2022-0879WO01 S&G ref: W178640057 _{expressed by ^^} ^⁄ _{^^ = ^} ⁽ _^ ⁾ _{+ ^} ⁽ _{^, ^} ⁾ _{, where ^ represents velocities/orientations of the} vehicle (e.g., longitudinal velocity, lateral velocity, and yaw), ^⁽^⁾ represents vehicle forces/moments that it is not possible to influence via the motion support devices (e.g., lateral force on an un-steered wheel, longitudinal force on a wheel without propulsion, etc.), and ^(^, ^) represents vehicle forces/moments that it is possible to influence via the motion support devices (i.e., the plurality of global forces elements may be expressed using ^⁽^,^⁾). [0050] Typically, the plurality of global forces elements are derived based on motion requests (e.g., representing a desired acceleration and/or a desired curvature). The motion requests may be obtained from a status of one or more operator control interfaces (e.g., accelerator pedal, steering wheel, etc.), and/or from a driving support system such as a control system for autonomous, or semi-autonomous, driving. The derivation of the plurality of global forces elements may be performed in any suitable way; e.g., according to an _{approach of the prior art and/or based on the expression ^^} ^⁄ _{^^ = ^} ⁽ _^ ⁾ _{+ ^} ⁽ _^,^ ⁾ _{, where the} plurality of global forces elements are represented by ^⁽^,^⁾ and the motion requests are represented by ^^^⁄ ^^ . System dependent (global) forces/moments that cannot be actively _{controlled by available motion support are represented by ^} ⁽ _^ ⁾ _. [0051] A control allocation problem may be applied for transforming the global forces _{elements ^ =} ⁽ _{^^,^^, … , ^^} ⁾ _{to the actuator request elements ^ =} ⁽ _{^^,^^, … ,^^} ⁾ _{; i.e., trying} to find a ^ that satisfies ^. In some examples, the control allocation may comprise flight control and/or vessel control. [0052] Typically, the control allocation involves a larger number of actuator request elements ^ = (^_^, ^_^, … ,^_^) than the number of global forces elements ^ = (^_^, ^_^, … ,^_^); i.e., ^ < ^. [0053] The control allocation problem may be any suitable control allocation problem; e.g., a control allocation problem of the prior art. For example, the control allocation problem may comprise minimizing the overall power loss subject to respective operating limits (capabilities) of the motion support devices. ^{[0054] The following control allocation problem will be used herein for illustration:} _m ^_in ^{∑^} ^_{^^ ^^^^^} ⁽ _^^ ⁾ _{subject to ^ ≤ ^ ≤ ^ and ^^ = ^, where ^^^^^} ⁽ _^^ ⁾ _{represents resulting} power loss when the actuator request element ^_^ is applied, and the matrix ^ ∈ ℝ^{^×^} Docket No.: P2022-0879WO01 S&G ref: W178640057 represents a transfer function associating the plurality of global forces elements with the collection of actuator request elements. [0055] A problem in this respect is that the control allocation problem might not always have a solution (or may have only solution(s) with undesirable characteristics). Thus, there may be scenarios where the global forces elements are not achievable under the requirements of the control allocation problem (e.g., capabilities of the motion support devices); i.e., it is not possible to provide actuator request element values that fulfill the motion request when applied to the motion support devices. [0056] For example, when control allocation uses an optimization-based algorithm (e.g., a Quadratic Programming, QP, solver), wherein the global forces element values are provided as hard constraints (i.e., equality constraints), the algorithm will typically output an error message when the global forces elements are not achievable. [0057] For safety reasons, it may be required (or at least important) that control allocation always provide an acceptable collection of actuator request element values; e.g., with a time delay that does not exceed some latency requirement. [0058] One solution to this problem is to use some fallback control allocation approach (e.g., a fallback algorithm and/or a fallback control allocation problem) when the global forces elements are not achievable. However, this solution typically introduces additional time delay, which may be problematic. Alternatively or additionally, the global forces elements may be not achievable also for the fallback control allocation. [0059] Another solution to this problem is to relax the constraints of the control allocation problem. However, this solution typically introduces additional complexity (e.g., an optimization approach for solving the control allocation problem might have more variables; slack variables and/or tuning parameters). [0060] In the following, improved approaches for determining actuator requests will be disclosed. According to some examples, the improved approaches for determining actuator requests guarantees that the control allocation problem always has a solution (or that the control allocation problem has a solution for at least one scenario where a solution was lacking according to other approaches). [0061] The improved approaches for determining actuator requests may comprise limitation of the global forces element values, as suitable, before the control allocation Docket No.: P2022-0879WO01 S&G ref: W178640057 problem is solved. The global forces elements may be considered for limitation in an order of priority. [0062] FIG. 1 illustrates a method 100 according to some examples. The method 100 is a computer-implemented method for motion control of a vehicle. For example, one or more steps of the method 100 may be performed, or caused by, a processor device of a computer system. The computer system may be an on-board system, or a remote system, or the system may comprise a combination of on-board system components and remote system components. [0063] The vehicle comprises a plurality of motion support devices for actuating the vehicle. The motion control comprises application of a control allocation problem for transforming a plurality of global forces elements ^ to a collection of actuator request elements ^ for operating the plurality of motion support devices. [0064] In step 140, lower and upper bounds are determined for a considered global forces element ^_^. The lower and upper bounds for the global forces element are determined based on lower and upper bounds (^_^^^ ,^_^^^) for the actuator request elements _{^ and a transfer function ^; e.g., according to = ^^^^ ^ [^^^^ ,^^^^].} [0065] For example, interval arithmetic could be used in step 140. In interval arithmetic, an interval [a, b] is defined as a set of real numbers {a ≤ x ≤ b}, and operations on intervals are generally simple and cheap complexity-wise. When each actuator request element ^_^ occurs only once for each constraint of the control allocation problem, there is no risk of overestimation. [0066] Step 140 may be seen as calculation of intervals for each global forces element ^_^ such that there exists (for all global forces element value combinations within the intervals) a combination of actuator request element values within the capabilities of the motion support devices that achieve the global forces element value combination. [0067] In step 145, it is determined whether or not the value of the considered global forces element ^_^ is within the determined bounds; i.e., whether or not ^_^ ≤ ^_^ ≤ ^_^. [0068] When the value of the considered global forces element falls outside of the determined bounds (N-path out of step 145), the value of the considered global forces element ^_^ is adjusted, as illustrated by in step 150. Typically, the value of the considered Docket No.: P2022-0879WO01 S&G ref: W178640057 global forces element ^_^ is adjusted to the one of the determined lower and upper bounds which is closest to ^_^; i.e., ^_^ ^∗ = ^_^ when ^_^ < ^_^ and ^_^ ^∗ = ^_^ when ^_^ < ^_^. Then, the method 100 proceeds to step 155. [0069] When the value of the considered global forces element is within the determined bounds (Y-path out of step 145), ^_^ ^∗ = ^_^ and the method 100 proceeds directly to step 155. [0070] The global forces elements are considered for adjustment/limitation in an order of priority, as illustrated by step 130. Typically, each of the global forces elements are considered. In step 155, is it determined whether all relevant global forces elements have been considered. If so (Y-path out of step 155), the adjustment of the global forces elements is complete. If not (N-path out of step 155), the method 100 returns to step 130 for consideration of the next global forces element in the order of priority. [0071] The method 100 may comprise determining the order of priority, as illustrated by optional step 105. For example, the order of priority may be dynamically determined, as illustrated by the loop-back to step 105. [0072] The order of priority may be determined in any suitable way. For example, the order of priority may depend on a current scenario and/or an upcoming scenario, wherein a scenario may be defined via one or more of: a driving mode (e.g., normal, steer-by-brake, steer-by-propulsion, uphill/downhill assistance, etc.), a vehicle condition, a road condition, weather conditions, etc. Alternatively or additionally, a scenario may be defined based on the motion requests. [0073] One example of how the order of priority may depend on the motion requests is that a longitudinal force may have high priority when the motion requests indicates that acceleration without steering is desired. Another example of how the order of priority may depend on the motion requests is that a yaw moment may have high priority when the motion requests indicates that steering is desired. [0074] One example of how the order of priority may depend on road/weather conditions is that a yaw moment may have highest priority and a longitudinal force may have second highest priority when low friction is experienced (e.g., due to low temperatures, rain, and/or snowfall). Another example of how the order of priority may depend on road/weather conditions is that a longitudinal force may have highest priority when high friction is experienced. Docket No.: P2022-0879WO01 S&G ref: W178640057 [0075] As illustrated by optional step 135, the lower and upper bounds ⁽^_^^^ , ^_^^^ ⁾ for the actuator request elements may be determined in preparation for execution of step 140. [0076] For consideration of the global forces element with highest priority ^_^, the lower and upper bounds ^^_^^^,^, ^_^^^,^^ for the actuator request elements may correspond to the capabilities ^^,^^ of the motion support devices; i.e., ^_^^^,^ = ^ and ^_^^^,^ = ^. [0077] For consideration of global forces elements ^_^ with lower priority than the highest priority, the lower and upper bounds ^{^}^_^^^,^ , ^_^^^,^ ^{^} for the actuator request elements may be determined based on the capabilities of the motion support devices ^^, ^^, the transfer function ^, and the values – as adjusted – of global forces elements with higher priority than the considered global forces element; i.e., ^_^ ^∗ for already processed global forces element(s). For example, the lower and upper bounds for the actuator request elements may be determined according to ^_^^^,^ = argmin ⁽ _{^^^^ ^ ^} ⁾ _{and ^^^^,^ = argmax} ⁽ _{^^^^ ^ ^} ⁾ _, ^ ^ subject [0078] In some examples, the determination of the lower and upper bounds in step 140 and/or the determination of the lower and upper bounds ⁽^_^^^ ,^_^^^ ⁾ in step 135 may comprise considerations for limiting one or more global forces metric comprising (e.g., consisting of) a sum (value sum or vector sum) of two or more of the global forces elements. Thus, step 135 and/or 140 may comprise using one or more constraints ^_^ ≤ ^_^^^ or ^∗ ^ ≤ ^_^^^, where ^ denotes the indices of the two or more of the global forces elements, and ^_^^^ denotes the corresponding limitation. [0079] For example, the combination of longitudinal force and lateral force may be limited (e.g., on wheel level), and/or the combination of longitudinal force, lateral force, and yaw moment may be limited (e.g., on wheel level). This may be beneficial, for example, to mitigate/avoid losing tire grip. According to some examples, the limitation ^_^^^ may be a function of the friction. [0080] To further exemplify, when a curve is to be negotiated, the lateral force for that curve may need to be guaranteed. Then, if the used longitudinal force is relatively large and a total force ^_^^^ (e.g., a combination of lateral and longitudinal forces) is limited (e.g., by ^_^^^,^^^ = ^^_^, where ^_^ represents vertical force and ^ represents friction between road and Docket No.: P2022-0879WO01 S&G ref: W178640057 tire), the combined slip may lead to tire forces that are such that the longitudinal force ^_^ overcomes the lateral force ^_^. Therefore, it may be beneficial to impose a limitation corresponding to ^_^ + ^_^ ≤ ^_^^^,^^^ and prioritize the lateral force. [0081] According to some examples, the adjustment procedure is applied when the control allocation problem lacks solution for the un-adjusted global forces elements. For example, the method 100 may comprise applying the control allocation problem with the aim of transforming the plurality of global forces elements ^ to a collection of actuator request elements ^, as illustrated by optional step 120. [0082] In optional step 125, it is determined whether or not the control allocation problem has an acceptable solution, or any solution at all, for the un-adjusted plurality of global forces elements ^. For example, optional step 125 may comprise determining whether or not the execution of optional step 120 resulted in a solution to the control allocation problem). [0083] When the control allocation problem has a solution for the un-adjusted plurality of global forces elements ^ (Y-path out of step 125), the method 100 may proceed directly to optional step 165, without adjustment of the global forces elements. [0084] When the control allocation problem does not have any (acceptable) solution for the un-adjusted plurality of global forces elements ^ (N-path out of step 125), adjustment of the global forces elements is performed as described herein. [0085] When all relevant global forces elements have been considered (Y-path out of step 155), the adjustment of the global forces elements is complete and the plurality of global forces elements as adjusted may be used for any suitable purpose. For example, the method 100 may comprise determining the collection of actuator request elements ^ based on the plurality of global forces elements as adjusted ^^{∗, as illustrated by optional step 160. The} determination in step 160 may comprise applying the control allocation problem for transforming the plurality of global forces elements as adjusted ^^∗ to the collection of actuator request elements ^; e.g., min ^ _{subject to ^ ≤ ^ ≤ ^ and ^^ = ^} ^∗ _. [0086] In optional step 165, the collection of actuator request elements ^ (e.g., determined in step 120 from the un-adjusted plurality of global forces elements ^, or determined in step 160 from the adjusted plurality of global forces elements ^^∗) are provided for operation of the plurality of motion support devices. Docket No.: P2022-0879WO01 S&G ref: W178640057 [0087] The method 100 typically also comprises obtaining the global forces elements ^, as illustrated by optional step 115. For example, step 115 may comprise receiving values for the global forces elements, or calculating values for the global forces elements based on motion requests. [0088] The global forces elements may be dynamically changing; e.g., in correspondence with changing motion requests and/or based on the motion of the vehicle. Thus, the method 100 may comprise performing the adjustment of the global forces elements repeatedly (e.g., at regular time intervals and/or when new values for the global forces elements are obtained), as illustrated by the loop-back to step 115. [0089] The method 100 may further comprise obtaining the capabilities ^{^}^,^^{^} of the motion support devices, as illustrated by optional step 110. For example, step 110 may comprise receiving the capabilities from the motion support devices. [0090] The capabilities of the motion support devices may be dynamically changing (e.g., due to aging, temperature, etc.) and the method 100 may comprise updating the capabilities (e.g., at regular time intervals and/or when conditions change), as illustrated by the loop-back to step 110. One example of dynamically changing capabilities includes that a brake device typically heats up during braking and may even lose braking capability completely (brake fading / overheated discs); e.g., due to using service brakes instead of engine braking for speed maintenance during downhill driving. Another example of dynamically changing capabilities includes that the peak torque capability of an electric machine may depend on how much cooling the electric machine has. [0091] The proposed solution will now be further exemplified in the context of a scenario with a 4x2 truck (i.e., a two-axle truck with four wheels, of which two are driven wheels) with individual braking torques ^_^ for each wheel, one electric machine with torque ^_^^ for the rear axle, and steering angle ^ for the front axle. A control vector comprising the ^{corresponding actuator request elements for this vehicle may be expressed as ^ =} _{[^^,^ ^^,^ ^^,^ ^^,^ ^^^ ^]^.} [0092] An example vector comprising relevant global forces elements may be expressed _{as ^ = [} ^{^} _^ ^{^} _^ ^{^} _^] ^{^} _{. The desired longitudinal force may be determined as ^^ = ^^^ +} ^_^ + ^_^, where ^ denotes a mass of the vehicle, ^_^ represents brake/accelerator pedal Docket No.: P2022-0879WO01 S&G ref: W178640057 position, ^_^ represents dissipative forces (e.g., aerodynamic drag and rolling resistance), and ^_^ represents a gradient/gravitational force. The desired lateral force may be determined as ^_^ = 2^_^^, where ^_^ represents a cornering stiffness of the front wheels, and ^ represents a steering-wheel position. The desired yaw moment may be determined as ^_^ = 2^_^^_^^, where ^_^ represents a track width of the steered axle. [0093] An example effectiveness matrix may be expressed as where ^_^ denotes an equivalent wheel radius, and ^_^,^_^ are track widths of the front and rear axles, respectively. [0094] According to a numerical example, −100 é ^{0 2.1 2.1 2.1 2.1 2.1 0 −1250} ê ⁰ ù ú _{^ = ^ 0 0 0 0 0 2.3^5} ^{^ = ^11610^, ^ =} ê ⁰ −_{2.2 2.2 −2.0 2.0 0 8.8^5 45100} −110 ^ú ê ⁻²⁰⁰ ₂₀₀ ë _0.051 [0095] Using interval arithmetic, crude limits for the global forces may be determined as −^{1302 ^ = 11270 , and ^^^ 420 ^^ ^ ^ = ^11730^.} 4_{2680 45320} ^{[0096] For example, [ ] + 2.2[−100,0] − 2.0[−110,0]} _{2.0[−110,0] + 8.8^5[0.049,0.051] = [42680 , 45320].} [0097] Even if global forces element is within the crude limits (^_^ ^{^^} ≤ ^ ^{^^} ^ ≤ ^_^), there is no combination of actuator request element values within the capabilities (^ ≤ ^ ≤ ^) for which ^^ = ^. [0098] This problem may be solved by considering the global forces elements in an order of priority and determining improved limits for the global forces; namely lower and upper bounds _^^ for each considered global forces element ^_^. In this example, the order priority will be assumed to be ^_^, ^_^, and ^_^. Docket No.: P2022-0879WO01 S&G ref: W178640057 [0099] Starting with considering ^_^, step 140 gives ^{^}^_^, ^̅_^ ^{^} = [11270,11730], and ^_^ ^∗ = ^_^ = 11610 since 11610 ∈ [11270,11730] (Y-path out of step 145). ^{[00100] Continuing with considering ^} _^ ^{, step 135 comprises determining ^} _^^^,^ ⁼ _argmin (^_{^^^ ^} ^) and ^_^^^,^ = argmax (^_{^^^ ^} ^), subject to ^ ≤ ^ ≤ ^ and ^_{^^^ ^} ^ = ^ ^ ^_^ ^∗, step 140 gives ^^_^, ^̅_^^=^_{^^^ ^}[^_^^^,^, ^_^^^,^] = [43981,44861], and step 150 gives ^_^ ^∗ = ^_^ = 44861 since 45100 ∉ [43981,44861] (N-path out of step 145). ^{[00101] Concluding with considering ^} _^ ^{, step 135 comprises determining ^} _^^^,^ ⁼ _argmin (^_{^^^ ^} ^) and ^_^^^,^ = argmax (^_{^^^ ^} ^), subject to ^ ≤ ^ ≤ ^ and ^_{^^^^ ^&^} ^ = ^ ^ = _{[−861,−21], and step 150 gives} ^_^ ^∗ = ^_^ = −861 since −1250 ∉ [−861,−21] (N-path out of step 145). [00102] Thus, a vector of adjusted global forces element values ^^∗ = ^[^_^ ^∗ ^_^ ^∗ ^_^ ^{∗]^} may be used instead of ^ when the control allocation problem is applied to determine a combination of actuator request element values within the capabilities (^ ≤ ^ ≤ ^) for which ^^ = ^^∗. [00103] In an alternative approach, the satisfaction of the global forces may be expressed as an optimization problem (e.g., a Quadratic Programming (QP) problem, or a Non-Negative Least Squares problem). A vector of cost factors may be defined where each cost factor depends on the priority for the corresponding global force element, and may be seen as a cost for not satisfying that global force element. For example, a higher cost factor may imply a higher priority, and vice versa. [00104] According to this approach, the optimization problem may, for example, be expressed as ^ = argmin ^{∑^ ^^^ ^(^)(^^^^ ^ ^ − ^^)^ . If the cost factors are set to ^(1) =} ^ _{0.1, ^(2) = 100, and ^(3) = 1, the optimization problem solution becomes} ^ = Docket No.: P2022-0879WO01 S&G ref: W178640057 [00105] More generally, an additional aspect comprising this alternative approach is a computer-implemented method for motion control of a vehicle, wherein the vehicle comprises a plurality of motion support devices for actuating the vehicle, and wherein the motion control comprises application of a control allocation problem for transforming a plurality of global forces elements to a collection of actuator request elements for operating the plurality of motion support devices. [00106] The method comprises, determining, by a processor device of a computer system, the collection of actuator request elements based on an optimization problem wherein non- satisfaction of a transfer function is weighted according to an order of priority for the global forces elements. [00107] The method may also comprise providing, by the processing device, adjusted global forces element values by applying the transfer function to the determined collection of actuator request elements. [00108] Other features described herein for the first aspect are equally applicable to the additional aspect, as suitable. [00109] Further aspects include systems, computer program products, apparatus, and vehicle corresponding to the additional aspect. [00110] FIG. 2 is a schematic drawing of an example vehicle 200 (e.g., for cargo transport), wherein the herein disclosed techniques can be applied. In the illustrated example, the vehicle 200 is a multi-unit combination vehicle that comprises a tractor unit 210 (e.g., truck or towing vehicle) configured to tow one or more trailer unit(s) 211, 212. [00111] The tractor unit 210 comprises a vehicle control unit (VCU) 290 – or other computer system comprising a processor device – configured to perform various vehicle control functions, such as vehicle motion management. [00112] The VCU 290 may be configured to perform one or more method steps of the method 100 of FIG. 1. Thus, the global forces element values as adjusted according to the method 100 may be used for controlling the vehicle 200 as already exemplified herein. [00113] Although not shown, it should be understood that a VCU may be comprised – additionally or alternatively – in one or more of the trailer unit(s) 211, 212. Also alternatively or additionally, a control unit (e.g., a parametrized VCU) may be comprised in a remote server node to which the vehicle 200 may be connected via wireless link. Generally, Docket No.: P2022-0879WO01 S&G ref: W178640057 approaches described herein (e.g., the method 100 of FIG. 1) may be performed by any VCU or other control unit; alone or in combination. [00114] FIG. 3 schematically illustrates the function of an example vehicle motion control system 300. The vehicle motion control system 300 may, for example, utilize the global forces element value adjustment as elaborated on previously herein. [00115] The vehicle motion control system 300 controls a wheel 310 of a vehicle, via one or more motion support devices (MSDs) 320; exemplified in FIG. 3 by a power steering arrangement 321 (an example of an orientation device) and a propulsion device 322 (e.g., an electric machine). The power steering arrangement 321 and the propulsion device 322 are examples of actuators. Generally, the MSDs 320, such as the actuators 321, 322, may be controlled by one or more MSD control unit 340. [00116] According to some examples, a traffic situation management (TSM) function 370, which may be part of a driving support system, plans driving operations with some time horizon; e.g., 1-10 seconds. The time horizon may, for example, correspond to the time it takes for the vehicle to negotiate a curve, make an evasive maneuver, or halt the vehicle. Vehicle maneuvers, as planned and executed by the TSM, can be associated with acceleration profiles and curvature profiles which describe a desired vehicle velocity and turning for a given maneuver. [00117] The TSM function 370 may send motion requests (e.g., continuously or with some periodicity) corresponding to desired acceleration profiles and curvature profiles to a vehicle motion management (VMM) function 350. [00118] Alternatively or additionally, the VMM function 350 may receive motion requests corresponding to desired acceleration profiles and curvature profiles as derived from a status of one or more operator control interfaces (e.g., accelerator pedal, steering wheel, etc.). [00119] In any case, the VMM function 350 performs force allocation to meet the motion requests in a safe and robust manner. The VMM function 350 communicates the force allocation to the relevant MSDs via the MSD control unit 340. The VMM function 350 typically manages both force allocation and MSD coordination; i.e., it may determine what global forces are required where to fulfil the received motion requests. The global forces may comprise any suitable forces, e.g., yaw moments, longitudinal forces, lateral forces, torques, etc. Docket No.: P2022-0879WO01 S&G ref: W178640057 [00120] The MSD control unit 340, the VMM function 350, and the TSM function 370 may have access to sensor data from vehicle sensors 360 (e.g., on-board sensors), which sensor data may be used for the vehicle control. The sensors may comprise any suitable sensors; e.g., one or more of: global positioning system (GPS) receivers, vision-based sensors (such as cameras), wheel speed sensors, radar sensors, lidar sensors, etc. [00121] The sensor data may, for example, be used for determination of a vehicle location in relation to a reference path and/or for determining whether a force allocation is safe. The VMM function 350 may be configured to perform and utilize the global forces element value adjustment as described herein for a vehicle control approached used by the vehicle motion control system 300. [00122] For example, the VMM function 350 and/or the MSD control unit 340 may be comprised in the vehicle control unit 290 of FIG. 2. [00123] FIG. 4 schematically illustrates a simplified vehicle motion management (VMM) 450 according to some examples. For example, the VMM 450 may illustrate a possible implementation of the VMM function 350 of FIG. 3. Alternatively or additionally, the VMM 450 may be comprised in the vehicle control unit 290 of FIG. 2. [00124] The VMM 450 comprises motion estimation 451, global force generation 452, and motion coordination 453. [00125] The motion estimation 451 is configured to provide measured/estimated parameters 401 representing the current motion of the vehicle to the global force generation 452. For example, the parameters 401 may comprise one or more of: vertical force ^_^, friction between road and tire ^, vehicle velocity in relation to a vehicle-centered coordinate system ^_^, road gradient (or road slope) ^, and road banking ^. [00126] The global force generation 452 is configured to determine global forces elements ^ based on the parameters 401 representing the current motion of the vehicle and based on motion requests 411. The global force generation 452 is also configured to provide the determined global forces elements 405 to the motion coordination 453 (compare with step 115 of FIG. 1). Docket No.: P2022-0879WO01 S&G ref: W178640057 [00127] The motion coordination 453 is configured to receive information 413 regarding the motion support devices of the vehicle, including capabilities ^^,^^ of the motion support devices (compare with step 110 of FIG. 1). [00128] The motion coordination 453 is further configured to determine actuator request elements ^ based on the determined global forces elements ^ and the capabilities of the motion support devices. For example, the motion coordination 453 may be configured to adjust the global forces elements ^ as needed (compare with steps 125, 130, 135, 140, 145, 150, 155 of FIG. 1) and apply a control allocation problem to the adjusted ^^∗ or un-adjusted ^ global forces elements (compare with steps 120 and 160 of FIG. 1). [00129] The motion coordination 453 is also configured to provide information 414, including the actuator request elements ^, for operation of the plurality of motion support devices (compare with step 165 of FIG. 1). [00130] Furthermore, as illustrated by 406, the motion coordination 453 may be configured to provide the lower and upper bounds for the global forces elements to the global force generation 452, and the global force generation 452 may apply these bounds for an upcoming determination of global forces elements ^. [00131] FIG. 5 schematically illustrates a vehicle control system 510 according to some examples. For example, the vehicle control system 510 may be comprised in the vehicle 200 of FIG. 2. Alternatively or additionally, the vehicle control system 510 may be configured to cause execution of (e.g., configured to perform) one or more steps as described in connection with the method 100 of FIG. 1. [00132] The vehicle control system 510 comprises an apparatus 500 for motion control of a vehicle, wherein the vehicle comprises a plurality of motion support devices for actuating the vehicle, and wherein the motion control comprises application of a control allocation problem for transforming a plurality of global forces elements to a collection of actuator request elements for operating the plurality of motion support devices. [00133] The apparatus 500 comprises a controller (CNTR; e.g., controlling circuitry or a control module) 520. For example, the controller 520 may be comprised in (or correspond to) the vehicle control unit 290 of FIG. 2, and/or the VMM function 350 of FIG. 3. Docket No.: P2022-0879WO01 S&G ref: W178640057 [00134] The controller 520 is configured to cause – for the global forces elements considered in an order of priority (compare with steps 130, 155 of FIG. 1) – determination of lower and upper bounds for the considered global forces element, based on lower and upper bounds for the actuator request elements and a transfer function (compare with step 140 of FIG. 1). [00135] To this end, the controller 520 may comprise, or be otherwise associated with (e.g., connected, or connectable, to) a determiner (e.g., determining circuitry or a determination module) 521; configured to determine the lower and upper bounds for the considered global forces element. [00136] The controller 520 is also configured to cause – for the global forces elements considered in an order of priority (compare with steps 130, 155 of FIG. 1), and responsive to a value of the considered global forces element falling outside of the determined lower and upper bounds for the considered global forces element (compare with step 145 of FIG. 1) – adjustment of the value of the considered global forces element to one of the determined lower and upper bounds for the considered global forces element which is closest to the value of the considered global forces element (compare with step 150 of FIG. 1). [00137] To this end, the controller 520 may comprise, or be otherwise associated with (e.g., connected, or connectable, to) a value adjuster (e.g., adjusting circuitry or an adjustment module) 522; configured to adjust the value of the considered global forces element. [00138] It should be noted that the controller 520 may be further configured to cause performance of one or more of the other steps described in connection with FIG. 1. To this end – even if not shown in Figure 5 – the controller 520 may comprise, or be otherwise associated with (e.g., connected, or connectable, to) further circuitry or modules configured to performed such steps. [00139] FIG. 6 is a schematic diagram of a computer system 600 for implementing examples disclosed herein. The computer system 600 may be comprised – or comprisable – in a vehicle according to some examples. [00140] For example, the computer system 600 may be configured to execute, or cause execution of, one or more of the method steps as described in connection with FIG. 1. Docket No.: P2022-0879WO01 S&G ref: W178640057 [00141] Alternatively or additionally, the computer system 600 (e.g., by the processor device 602) may be configured to perform and/or utilize the global forces element value adjustment as described herein for a vehicle control. [00142] The computer system 600 is adapted to execute instructions from a computer- readable medium to perform these and/or any of the functions or processing described herein. The computer system 600 may be connected (e.g., networked) to other machines in a LAN, an intranet, an extranet, or the Internet. While only a single device is illustrated, the computer system 600 may include any collection of devices that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. Accordingly, any reference in the disclosure and/or claims to a computer system, computing system, computer device, computing device, control system, control unit, electronic control unit (ECU), processor device, etc., includes reference to one or more such devices to individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. For example, control system may include a single control unit or a plurality of control units connected or otherwise communicatively coupled to each other, such that any performed function may be distributed between the control units as desired. Further, such devices may communicate with each other or other devices by various system architectures, such as directly or via a Controller Area Network (CAN) bus, etc. [00143] The computer system 600 may comprise at least one computing device or electronic device capable of including firmware, hardware, and/or executing software instructions to implement the functionality described herein. The computer system 600 may include a processor device 602 (may also be referred to as a control unit), a memory 604, and a system bus 606. The computer system 600 may include at least one computing device having the processor device 602. The system bus 606 provides an interface for system components including, but not limited to, the memory 604 and the processor device 602. The processor device 602 may include any number of hardware components for conducting data or signal processing or for executing computer code stored in memory 604. The processor device 602 (e.g., control unit) may, for example, include a general-purpose processor, an application specific processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a circuit containing Docket No.: P2022-0879WO01 S&G ref: W178640057 processing components, a group of distributed processing components, a group of distributed computers configured for processing, or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The processor device may further include computer executable code that controls operation of the programmable device. [00144] The system bus 606 may be any of several types of bus structures that may further interconnect to a memory bus (with or without a memory controller), a peripheral bus, and/or a local bus using any of a variety of bus architectures. The memory 604 may be one or more devices for storing data and/or computer code for completing or facilitating methods described herein. The memory 604 may include database components, object code components, script components, or other types of information structure for supporting the various activities herein. Any distributed or local memory device may be utilized with the systems and methods of this description. The memory 604 may be communicably connected to the processor device 602 (e.g., via a circuit or any other wired, wireless, or network connection) and may include computer code for executing one or more processes described herein. The memory 604 may include non-volatile memory 608 (e.g., read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.), and volatile memory 610 (e.g., random- access memory (RAM)), or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a computer or other machine with a processor device 602. A basic input/output system (BIOS) 612 may be stored in the non-volatile memory 608 and can include the basic routines that help to transfer information between elements within the computer system 600. [00145] The computer system 600 may further include or be coupled to a non-transitory computer-readable storage medium such as the storage device 614, which may comprise, for example, an internal or external hard disk drive (HDD) (e.g., enhanced integrated drive electronics (EIDE) or serial advanced technology attachment (SATA)), HDD (e.g., EIDE or SATA) for storage, flash memory, or the like. The storage device 614 and other drives associated with computer-readable media and computer-usable media may provide non- volatile storage of data, data structures, computer-executable instructions, and the like. Docket No.: P2022-0879WO01 S&G ref: W178640057 [00146] A number of modules can be implemented as software and/or hard-coded in circuitry to implement the functionality described herein in whole or in part. The modules may be stored in the storage device 614 and/or in the volatile memory 610, which may include an operating system 616 and/or one or more program modules 618. All or a portion of the examples disclosed herein may be implemented as a computer program product 620 stored on a transitory or non-transitory computer-usable or computer-readable storage medium (e.g., single medium or multiple media), such as the storage device 614, which includes complex programming instructions (e.g., complex computer-readable program code) to cause the processor device 602 to carry out the steps described herein. Thus, the computer- readable program code can comprise software instructions for implementing the functionality of the examples described herein when executed by the processor device 602. The processor device 602 may serve as a controller or control system for the computer system 600 that is to implement the functionality described herein. [00147] The computer system 600 also may include an input device interface 622 (e.g., input device interface and/or output device interface). The input device interface 622 may be configured to receive input and selections to be communicated to the computer system 600 when executing instructions, such as from a keyboard, mouse, touch-sensitive surface, etc. Such input devices may be connected to the processor device 602 through the input device interface 622 coupled to the system bus 606 but can be connected through other interfaces such as a parallel port, an Institute of Electrical and Electronic Engineers (IEEE) 1394 serial port, a Universal Serial Bus (USB) port, an IR interface, and the like. The computer system 600 may include an output device interface 624 configured to forward output, such as to a display, a video display unit (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)). The computer system 600 may also include a communications interface 626 suitable for communicating with a network as appropriate or desired. [00148] The operational steps described in any of the exemplary aspects herein are described to provide examples and discussion. The steps may be performed by hardware components, may be implemented in machine-executable instructions to cause a processor to perform the steps, or may be performed by a combination of hardware and software. Although a specific order of method steps may be shown or described, the order of the steps Docket No.: P2022-0879WO01 S&G ref: W178640057 may differ. In addition, two or more steps may be performed concurrently or with partial concurrence. [00149] The described examples and their equivalents may be realized in software or hardware or a combination thereof. The examples may be performed by general purpose circuitry. Examples of general purpose circuitry include digital signal processors (DSP), central processing units (CPU), co-processor units, field programmable gate arrays (FPGA) and other programmable hardware. Alternatively or additionally, the examples may be performed by specialized circuitry, such as application specific integrated circuits (ASIC). The general purpose circuitry and/or the specialized circuitry may, for example, be associated with or comprised in an electronic apparatus such as a vehicle control unit. [00150] The electronic apparatus may comprise arrangements, circuitry, and/or logic according to any of the examples described herein. Alternatively or additionally, the electronic apparatus may be configured to perform method steps according to any of the examples described herein. [00151] According to some examples, a computer program product comprises a non- transitory computer readable medium such as, for example, a universal serial bus (USB) memory, a plug-in card, an embedded drive, or a read only memory (ROM). FIG. 7 illustrates an example computer readable medium in the form of a compact disc (CD) ROM 700. The computer readable medium has stored thereon a computer program 740 comprising program instructions. The computer program is loadable into a data processor (e.g., a data processing unit) 720, which may, for example, be comprised in a vehicle control unit 710. When loaded into the data processor, the computer program may be stored in a memory 730 associated with, or comprised in, the data processor. According to some examples, the computer program may, when loaded into, and run by, the data processor, cause execution of method steps according to, for example, any of the methods described herein. [00152] FIG. 8 schematically illustrates, in terms of a number of functional units, the components of a control unit 800 according to some examples. The control unit may be comprised in a vehicle, e.g., in the form of a vehicle motion management (VMM) unit. A processor device in the form of processing circuitry 810 is provided using any combination of one or more of a suitable central processing unit (CPU), multiprocessor, microcontroller, digital signal processor (DSP), or similar; capable of executing software instructions stored in Docket No.: P2022-0879WO01 S&G ref: W178640057 a computer program product, e.g. in the form of a storage medium 830. The processing circuitry 810 may further be provided as at least one application specific integrated circuit ASIC, or field programmable gate array FPGA. [00153] Particularly, the processing circuitry 810 is configured to cause the control unit 800 to perform a set of operations, or steps; for example, any one or more of the methods discussed in connection to FIG. 1. [00154] For example, the storage medium 830 may store a set of operations, and the processing circuitry 810 may be configured to retrieve the set of operations from the storage medium 830 to cause the control unit 800 to perform the set of operations. The set of operations may be provided as a set of executable instructions. Thus, the processing circuitry 810 is thereby arranged to execute methods as herein disclosed. [00155] The storage medium 830 may comprise persistent storage, which, for example, can be any single one or combination of magnetic memory, optical memory, solid state memory or even remotely mounted memory. [00156] The control unit 800 may further comprise an interface 820 for communication with at least one external device. As such, the interface 820 may comprise one or more transmitters and receivers, comprising analogue and digital components and a suitable number of ports for wireline or wireless communication. [00157] The processing circuitry 810 controls the general operation of the control unit 800, e.g., by sending data and control signals to the interface 820 and the storage medium 830, by receiving data and reports from the interface 820, and by retrieving data and instructions from the storage medium 830. Other components, as well as the related functionality, of the control node are omitted in order not to obscure the concepts presented herein. [00158] In some examples, the control unit 800 may be seen as a control system, or may be comprised in a control system. Such a control system may, for example, comprise the apparatus 500 as described in connection with FIG.5 (e.g., the processing circuitry 810 may comprise the controller 520 of FIG. 5). [00159] The control system may be configured for vehicle motion management (VMM). In some examples, the control system is configured to perform and/or utilize the global forces element value adjustment as described herein for a vehicle control. Docket No.: P2022-0879WO01 S&G ref: W178640057 [00160] For example, the VCU 290 of FIG. 2 may comprise one or more of the apparatus 500 of FIG. 5, the control system 510 of FIG. 5, the computer system 600 of FIG. 6, the vehicle control unit 710 of FIG. 7, and the control unit 800 of FIG. 8. [00161] It should be noted that a feature or advantage mentioned herein in relation to one of the figures may be equally applicable, as suitable, to any other one of the figures; even if not mentioned explicitly in relation thereto. [00162] The terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including" when used herein specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. [00163] It will be understood that, although the terms first, second, etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element without departing from the scope of the present disclosure. [00164] Relative terms such as "below" or "above" or "upper" or "lower" or "horizontal" or "vertical" may be used herein to describe a relationship of one element to another element as illustrated in the Figures. It will be understood that these terms and those discussed above are intended to encompass different orientations of the device in addition to the orientation depicted in the Figures. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present. [00165] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to Docket No.: P2022-0879WO01 S&G ref: W178640057 which this disclosure belongs. It will be further understood that terms used herein should be interpreted as having a meaning consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein. [00166] Reference has been made herein to various examples. However, a person skilled in the art would recognize numerous variations to the described examples that would still fall within the scope of the claims. [00167] For example, the methods described herein discloses example methods through steps being performed in a certain order. However, it is recognized that these sequences of events may take place in another order without departing from the scope of the claims. Furthermore, some method steps may be performed in parallel even though they have been described as being performed in sequence. Thus, the steps of any methods disclosed herein do not have to be performed in the exact order disclosed, unless a step is explicitly described as following or preceding another step and/or where it is implicit that a step must follow or precede another step. [00168] In the same manner, it should be noted that the partition of functional blocks into particular units is by no means intended as limiting. Contrarily, these partitions are merely examples. Functional blocks described herein as one unit may be split into two or more units. Furthermore, functional blocks described herein as being implemented as two or more units may be merged into fewer (e.g. a single) unit. [00169] Any feature of any of the examples disclosed herein may be applied to any other example, wherever suitable. Likewise, any advantage of any of the examples may apply to any other examples. [00170] It is to be understood that the present disclosure is not limited to the aspects described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the present disclosure and appended claims. In the drawings and specification, there have been disclosed aspects for purposes of illustration only and not for purposes of limitation, the scope of the inventive concepts being set forth in the following claims.

Claims

Docket No.: P2022-0879WO01 S&G ref: W178640057 Claims What is claimed is: 1. A computer system comprising a processor device (290, 520, 720, 810) configured to perform motion control of a vehicle (200), wherein the vehicle comprises a plurality of motion support devices for actuating the vehicle, and wherein the motion control comprises application of a control allocation problem for transforming a plurality of global forces elements to a collection of actuator request elements for operating the plurality of motion support devices, the processor device being further configured to, for the global forces elements considered in an order of priority: determine lower and upper bounds for the considered global forces element, based on lower and upper bounds for the actuator request elements and a transfer function; and responsive to a value of the considered global forces element falling outside of the determined lower and upper bounds for the considered global forces element, adjust the value of the considered global forces element to one of the determined lower and upper bounds for the considered global forces element which is closest to the value of the considered global forces element. 2. A computer-implemented method for motion control of a vehicle (200), wherein the vehicle comprises a plurality of motion support devices for actuating the vehicle, and wherein the motion control comprises application (120, 160) of a control allocation problem for transforming a plurality of global forces elements to a collection of actuator request elements for operating the plurality of motion support devices, the method comprising, for the global forces elements considered in an order of priority (130, 155): determining (140), by a processor device (290, 520, 720, 810) of a computer system, lower and upper bounds for the considered global forces element, based on lower and upper bounds for the actuator request elements and a transfer function; and responsive (145) to a value of the considered global forces element falling outside of the determined lower and upper bounds for the considered global forces element, adjusting (150), by the processor device, the value of the considered global forces element to one of the Docket No.: P2022-0879WO01 S&G ref: W178640057 determined lower and upper bounds for the considered global forces element which is closest to the value of the considered global forces element. 3. The method of claim 2, wherein the adjustment is responsive (125) to the control allocation problem lacking solution for the un-adjusted global forces elements. 4. The method of any of claims 2 through 3, wherein – for consideration of the global forces element with highest priority – the lower and upper bounds for the actuator request elements corresponds to capabilities of the motion support devices. 5. The method of any of claims 2 through 4, further comprising – for consideration of global forces elements with lower priority than the highest priority – determining (135), by the processor device, the lower and upper bounds for the actuator request elements based on capabilities of the motion support devices, the transfer function, and the values – as adjusted – of global forces elements with higher priority than the considered global forces element. 6. The method of any of claims 4 through 5, wherein the capabilities of the motion support devices are dynamically variable. 7. The method of any of claims 2 through 6, further comprising limiting, by the processor device, one or more global forces metric comprising a sum of values of two or more of the global forces elements. 8. The method of any of claims 2 through 7, further comprising: applying (160), by the processor device, the control allocation problem for transforming the plurality of global forces elements – as adjusted – to the collection of actuator request elements; and providing (165), by the processor device, the collection of actuator request elements for operation of the plurality of motion support devices. Docket No.: P2022-0879WO01 S&G ref: W178640057 9. The method of any of claims 2 through 8, further comprising dynamically determining (105), by the processor device, the order of priority. 10. The method of any of claims 2 through 9, wherein the global forces elements are virtual global forces elements representing forces and/or moments applicable to the vehicle by the motion support devices. 11. A computer program product comprising program code (740) for performing, when executed by the processor device (290, 520, 720, 810), the method of any of claims 2 through 10. 12. A non-transitory computer-readable storage medium (700) comprising instructions, which when executed by the processor device (290, 520, 720, 810), cause the processor device to perform the method of any of claims 2 through 10. 13. An apparatus (500) for motion control of a vehicle (200), wherein the vehicle comprises a plurality of motion support devices for actuating the vehicle, and wherein the motion control comprises application of a control allocation problem for transforming a plurality of global forces elements to a collection of actuator request elements for operating the plurality of motion support devices, the apparatus comprising controlling circuitry (290, 520, 720, 810) configured to cause, for the global forces elements considered in an order of priority: determination of lower and upper bounds for the considered global forces element, based on lower and upper bounds for the actuator request elements and a transfer function; and responsive to a value of the considered global forces element falling outside of the determined lower and upper bounds for the considered global forces element, adjustment of the value of the considered global forces element to one of the determined lower and upper bounds for the considered global forces element which is closest to the value of the considered global forces element. Docket No.: P2022-0879WO01 S&G ref: W178640057 14. The apparatus of claim 13, wherein the controlling circuitry comprises: a determiner (521) configured to determine the lower and upper bounds for the considered global forces element; and a value adjuster (522) configured to adjust the value of the considered global forces element. 15. A vehicle control system (290, 510, 710, 800) comprising the apparatus of any of claims 13 through 14 and/or one or more control units configured to perform the method of any of claims 2 through 10. 16. A vehicle (200) comprising one or more of: the apparatus of any of claims 13 through 14, the control system of claim 15, the computer system of claim 1, and a processor device configured to perform the method of any of claims 2 through 10.