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.


    Access

    Download


    Export, share and cite



    Title :

    WHEEL TORQUE ESTIMATION FOR AUTONOMOUS DRIVING


    Contributors:
    LIU JINGXUAN (author) / KURT ARDA (author) / JING JUNBO (author)

    Publication date :

    2023-12-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    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 / H04L TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION , Übertragung digitaler Information, z.B. Telegrafieverkehr



    Autonomous driving wheel service

    IM CHAE RIM | European Patent Office | 2021

    Free access

    Driving torque transfer system for front wheel drive with steering wheel torque compensation

    Wakamatsu,K. / Nishimori,T. / Honda Motor,JP | Automotive engineering | 2010


    Steering wheel for autonomous driving vehicle

    PARK CHEOL GYUN | European Patent Office | 2019

    Free access

    All-wheel driving using independent torque control of each wheel

    Hallowell, S.J. / Ray, L.R. | Tema Archive | 2003


    Steering wheel for autonomous driving vehicle

    PARK DONG JIN | European Patent Office | 2019

    Free access