| 摘要 |
The present disclosure relates to a method for determining whether or not ground contact loss is imminent for a wheel (20, 22, 24) of a vehicle (10), said vehicle (10) comprising a vehicle body (12) having a vertical extension in a vertical direction (V), said wheel (20, 22, 24) being allowed to be subjected to a relative vertical displacement, in said vertical direction (V), in relation to said vehicle body (12), said vehicle (10) further being such that a maximum value of a vertical displacement of said wheel (20, 22, 24) relative to said vehicle body (12) is limited to a relative vertical displacement limit (Vl), said method comprising: - determining an actual relative vertical displacement (dv) of the wheel relative to said vehicle body (12), - determining a limit margin (lm) as the difference between said actual relative vertical displacement (dv) and said relative vertical position limit (vl) and - determining that ground contact loss is imminent for a wheel (20, 22, 24) if said limit margin (lm) is within a predetermined vertical threshold range. |
