Abstract: A method of operating a vehicle includes a vehicle controller receiving an operator-input vehicle control command with an associated torque request, and identifying any propulsion actuator constraints that limit a brake torque capacity available from the vehicle powertrain. Using the propulsion actuator constraint(s) and torque request, the controller determines a propulsion brake torque distribution for the vehicle's road wheels and a maximum brake torque capacity for the powertrain actuator(s). A first brake torque request is determined using the propulsion brake torque distribution and a vehicle control mode of the powertrain system, and a second brake torque request is determined using the maximum brake torque capacity and the vehicle control mode. A friction brake torque command is determined by arbitrating between the first and second brake torque requests.

Abstract: A method of operating a vehicle includes a vehicle controller receiving a driver acceleration/deceleration command for the vehicle's powertrain and determining a torque request corresponding to the driver's acceleration command. The controller shapes the torque request and determines compensated and uncompensated accelerations from the shaped torque request. The compensated acceleration is based on an estimated road grade and an estimated vehicle mass, whereas the uncompensated acceleration is based on a zero road grade and a nominal vehicle mass. A final speed horizon profile is calculated as: a speed-control speed profile based on the uncompensated acceleration if the vehicle's speed is below a preset low vehicle speed; or a torque-control speed profile based on a blend of the compensated and uncompensated accelerations if the vehicle speed exceeds the preset low vehicle speed. The controller commands the powertrain to output a requested axle torque based on the final speed horizon profile.

Abstract: A method of operating a vehicle includes a vehicle controller receiving an operator-input vehicle control command with an associated torque request, and identifying any propulsion actuator constraints that limit a brake torque capacity available from the vehicle powertrain. Using the propulsion actuator constraint(s) and torque request, the controller determines a propulsion brake torque distribution for the vehicle's road wheels and a maximum brake torque capacity for the powertrain actuator(s). A first brake torque request is determined using the propulsion brake torque distribution and a vehicle control mode of the powertrain system, and a second brake torque request is determined using the maximum brake torque capacity and the vehicle control mode. A friction brake torque command is determined by arbitrating between the first and second brake torque requests.

Abstract: A method of operating a vehicle includes a vehicle controller receiving a driver acceleration/deceleration command for the vehicle's powertrain and determining a torque request corresponding to the driver's acceleration command. The controller shapes the torque request and determines compensated and uncompensated accelerations from the shaped torque request. The compensated acceleration is based on an estimated road grade and an estimated vehicle mass, whereas the uncompensated acceleration is based on a zero road grade and a nominal vehicle mass. A final speed horizon profile is calculated as: a speed-control speed profile based on the uncompensated acceleration if the vehicle's speed is below a preset low vehicle speed; or a torque-control speed profile based on a blend of the compensated and uncompensated accelerations if the vehicle speed exceeds the preset low vehicle speed. The controller commands the powertrain to output a requested axle torque based on the final speed horizon profile.

Abstract: Presented herein are adaptive power assist systems for manually-powered vehicles, methods for operating such systems, and motor-assisted, operator-powered vehicles equipped with such systems. A method for regulating a power assist system includes a vehicle controller receiving torque sensor data indicative of user-generated torque input. The vehicle controller then determines: if the torque input is less than a commanded motor torque generated by a tractive motor; and, if a calibrated motor decay time of the tractive motor is less than a scaled cadence time of the user's cadence speed. Responsive to both determinations being positive, the vehicle controller calculates a torque decay factor based on the current cadence speed, and modifies the commanded motor torque based on this calculated torque decay factor. The vehicle controller then transmits command signals to the tractive motor to output a modulated motor torque according to the modified commanded motor torque.

Abstract: Vehicles, systems, and methods for determining a distance travelled are provided. In an exemplary embodiment, a vehicle includes an electric motor with a motor rotor shaft. A motor resolver is positioned adjacent to the motor rotor shaft, where the motor resolver is configured to determine a motor position of the electric motor based on revolutions of the motor rotor shaft. A controller is in communication with the motor resolver, where the controller is configured to determine a distance travelled from a change in the electric motor position.

Abstract: Methods and apparatus are provided for controlling an autonomous vehicle. The control device includes an interface that establishes a connection to an autonomous vehicle, a processor that processes inputs and generates control commands to control at least one function of the autonomous vehicle, and an input arrangement with at least one control element that is assigned to a function of the autonomous vehicle. The control device transitions a controller of the autonomous vehicle to operate in at least one of a first remote operation mode and a second remote operation mode in which the autonomous vehicle is controlled by the control device, when the control device is connected to the autonomous vehicle via the interface. At least one function of a scope of functions of the autonomous vehicle is restricted in the first remote operation mode and the second remote operation mode.

Abstract: A method of controlling a change in net axle torque on a vehicle comprises receiving a request for a desired net axle torque that is different than a current net axle torque, determining whether a lash zone exists between the current net axle torque and the desired net axle torque, determining a progression of constant rates of change of the front axle torque and a progression of constant rates of change of the rear axle torque that will result in a constant rate of change of the net axle torque from the current net axle torque to the desired net axle torque, and commanding the progression of constant rates of change of the front axle torque and the progression of constant rates of change of the rear axle torque if the lash zone exists between the current net axle torque and the desired net axle torque.

Abstract: Presented herein are adaptive power assist systems for manually-powered vehicles, methods for operating/constructing such systems, and motor-assisted, operator-powered vehicles with input torque filtering for adaptive power assist operations. A method for regulating a power assist system includes a vehicle controller receiving torque sensor data indicative of user-generated torque input. The vehicle controller then determines: if the torque input is less than a commanded motor torque generated by a tractive motor; and, if a calibrated motor decay time of the tractive motor is less than a scaled cadence time of the user's cadence speed. Responsive to both determinations being positive, the vehicle controller calculates a torque decay factor based on the current cadence speed, and modifies the commanded motor torque based on this calculated torque decay factor.

Abstract: A road load module is configured to determine a road load torque to maintain zero vehicle acceleration. A closed loop (CL) module is configured to determine a CL torque based on a difference between a target vehicle speed and a vehicle speed. A motor torque module is configured to: produce a limited CL torque by limiting the CL torque to a predetermined torque limit when a magnitude of the CL torque is greater than a magnitude of the predetermined torque limit; when the vehicle speed is within a predetermined low speed range and a magnitude of the road load torque is greater than or less than a magnitude of a predetermined maximum torque, adjust the predetermined torque limit; and determine a motor torque command based on the limited CL torque and a motor torque request determined based on a position of an accelerator pedal.

Abstract: A road load module is configured to determine a road load torque to maintain zero vehicle acceleration. An initialization module is configured to determine an initial torque based on the road load torque. A closed loop (CL) module is configured to: when a CL state transitions from an inactive state to an active state, set a CL torque to the initial torque; and when the CL state is in the active state after transitioning to the active state, adjust the CL torque based on a difference between a target vehicle speed and a vehicle speed. A motor torque module is configured to determine a motor torque command based on the CL torque and a motor torque request determined based on an accelerator pedal position. A switching control module is configured to, based on the motor torque command, control switching of an inverter and apply power to an electric motor.

Abstract: A road load module is configured to determine a road load torque to maintain zero vehicle acceleration. A closed loop (CL) module is configured to determine a CL torque based on a difference between a target vehicle speed and a vehicle speed. A motor torque module is configured to: produce a limited CL torque by limiting the CL torque to a predetermined torque limit when a magnitude of the CL torque is greater than a magnitude of the predetermined torque limit; when the vehicle speed is within a predetermined low speed range and a magnitude of the road load torque is greater than or less than a magnitude of a predetermined maximum torque, adjust the predetermined torque limit; and determine a motor torque command based on the limited CL torque and a motor torque request determined based on a position of an accelerator pedal.

Abstract: A road load module is configured to determine a road load torque to maintain zero vehicle acceleration. An initialization module is configured to determine an initial torque based on the road load torque. A closed loop (CL) module is configured to: when a CL state transitions from an inactive state to an active state, set a CL torque to the initial torque; and when the CL state is in the active state after transitioning to the active state, adjust the CL torque based on a difference between a target vehicle speed and a vehicle speed. A motor torque module is configured to determine a motor torque command based on the CL torque and a motor torque request determined based on an accelerator pedal position. A switching control module is configured to, based on the motor torque command, control switching of an inverter and apply power to an electric motor.

Abstract: Vehicles, systems, and methods for determining a distance travelled are provided. In an exemplary embodiment, a vehicle includes an electric motor with a motor rotor shaft. A motor resolver is positioned adjacent to the motor rotor shaft, where the motor resolver is configured to determine a motor position of the electric motor based on revolutions of the motor rotor shaft. A controller is in communication with the motor resolver, where the controller is configured to determine a distance travelled from a change in the electric motor position.

Abstract: An electric motor control system for a vehicle includes a vehicle speed module that determines a vehicle speed. A target speed module selectively transitions a target vehicle speed to zero over a period in response a driver actuating an input device. The input device is not an accelerator pedal or a brake pedal. A switching control module, based on a difference between a target vehicle speed and the vehicle speed, controls switching of an inverter to control application of power to an electric motor of the vehicle.

Abstract: An electric motor control system for a vehicle includes a vehicle speed module that determines a vehicle speed. A closed loop (CL) module determines a CL torque based on a difference between a target vehicle speed and the vehicle speed. A motor torque module determines a motor torque based on the CL torque and a motor torque request determined based on a position of an accelerator pedal. A switching control module controls switching of an inverter based on the motor torque to control application of power to an electric motor of the vehicle.

Abstract: A method for operating a powertrain system of a vehicle includes determining an initial creep torque command in an operator-selected direction of travel, adjusting the initial creep torque command responsive to an operator braking request and responsive to a change in direction of vehicle speed relative to the operator-selected direction of travel, and operating the hybrid powertrain to generate axle torque in response to the adjusted creep torque command.

Abstract: An electric motor control system for a vehicle includes a vehicle speed module that determines a vehicle speed. A target speed module selectively transitions a target vehicle speed to zero over a period in response a driver actuating an input device. The input device is not an accelerator pedal or a brake pedal. A switching control module, based on a difference between a target vehicle speed and the vehicle speed, controls switching of an inverter to control application of power to an electric motor of the vehicle.

Abstract: An electric motor control system for a vehicle includes a vehicle speed module that determines a vehicle speed. A closed loop (CL) module determines a CL torque based on a difference between a target vehicle speed and the vehicle speed. A motor torque module determines a motor torque based on the CL torque and a motor torque request determined based on a position of an accelerator pedal. A switching control module controls switching of an inverter based on the motor torque to control application of power to an electric motor of the vehicle.

Abstract: A method of executing a downshift in a fixed-gear powertrain having an input node and an output node related by a starting speed ratio before the downshift and a finishing speed ratio after is provided. The downshift includes a torque phase and an inertia phase. A starting output torque is calculated as a function of a starting driver request. An electric machine applies a starting regenerative input torque which is calculated as substantially equal to the starting output torque divided by the starting speed ratio. A finishing output torque is calculated as a function of a finishing driver request. The electric machine applies a finishing regenerative input torque which is calculated as substantially equal to the finishing output torque divided by the finishing speed ratio.