Devices, systems, and methods for estimating wheel torque in an autonomous vehicle include a method for controlling a vehicle includes using a dual filter framework to generate an updated estimate of a wheel torque, and controlling, based on the updated estimate of the wheel torque, the vehicle. A first filter of the dual filter framework is configured to generate a blended estimate of the wheel torque by combining a first estimate of the wheel torque that is generated based on a set of mechanical torque transfer models of at least a powertrain and a brake of the vehicle and a second estimate of wheel torque that is generated based on an inverted longitudinal dynamic model, and a second non-linear filter of the dual filter framework is configured to generate the updated estimate of a wheel torque and vehicle velocity based on a torque delivery damping process model on vehicle motion.
WHEEL TORQUE ESTIMATION FOR AUTONOMOUS DRIVING
28.12.2023
Patent
Elektronische Ressource
Englisch
IPC: | H04L TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION , Übertragung digitaler Information, z.B. Telegrafieverkehr / 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 |
Driving torque transfer system for front wheel drive with steering wheel torque compensation
Kraftfahrwesen | 2010
|Large-torque flexible sealed transmission double-wheel vertical driving wheel
Europäisches Patentamt | 2025
|All-wheel driving using independent torque control of each wheel
Tema Archiv | 2003
|Large-torque flexible sealed transmission double-wheel horizontal driving wheel
Europäisches Patentamt | 2025
|