E-drive torque sensing vehicle state estimation methods for vehicle control

• US 9,296,391 B2
• Filed: 03/25/2014
• Issued: 03/29/2016
• Est. Priority Date: 03/25/2014
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Lu, Jianbo, Yu, Hai, Liang, Wei
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US14/224,976
• Publication Number:
  US 20150274159A1
• Time in Patent Office: 735 Days
• US Class Current: 1/1
• CPC Class Codes: B60T 2260/04 Automatic transmission
• CPC Class Codes: B60T 8/171 Detecting parameters used in the regulation; Measuring values used in the regulation
• CPC Class Codes: B60T 8/175 Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control safety devices for propulsion unit control responsive to, or preventing, skidding of wheels B60K28/16
• CPC Class Codes: B60W 20/00 Control systems specially adapted for hybrid vehicles hybrid vehicle design, B60K6/00; electric vehicles B60L
• CPC Class Codes: B60W 2510/0657 Engine torque
• CPC Class Codes: B60W 2510/083 Torque
• CPC Class Codes: B60W 2510/105 Output torque
• CPC Class Codes: B60W 2510/182 Brake pressure, e.g. of fluid or between pad and disc
• CPC Class Codes: B60W 2520/30 Wheel torque
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: B60W 40/12 related to parameters of the vehicle itself , e.g. tyre models
• CPC Class Codes: G01L 3/245 by measuring and simultaneously multiplying pressure and velocity
• CPC Class Codes: G01L 5/13 for measuring the tractive or propulsive power of vehicles
• CPC Class Codes: Y10S 903/93 Conjoint control of different elements

Abstract

Vehicle state estimation methods include measuring torque, using the measured torque to formulate a vehicle state estimation for vehicle control and applying the vehicle state estimation to control the vehicle.

Claims

1. A hybrid vehicle control method, comprising:

providing a processor executing programmed instructions stored in non-transitory memory to determine vehicle states, the determining vehicle states comprising;

determining a measured torque at a torque actuator location on the vehicle including an electric drive motor, the torque sensed by a torque sensor at the torque actuator location;

using the measured torque to estimate a road torque/force of at least one wheel of the vehicle, the road torque/force comprising at least one of torque and force applied to the at least one wheel from a ground surface in contact with the at least one wheel;

using the road torque/force to determined at least one vehicle state estimation; and

,

using the processor or another processor to control at least regenerative brake application of the vehicle using the at least one vehicle state estimation the measured torque comprises engine torque in a hybrid mode of the hybrid vehicle.

2. The method of claim 1 further comprising using the measured torque to estimate an active wheel torque, the active wheel torque comprising torque transferred from a torque actuator location to at least one wheel of the vehicle.

3. The method of claim 2 wherein the active wheel torque comprises linear active wheel torque.

4. The method of claim 2 wherein the active wheel torque comprises nonlinear active wheel torque.

5. The method of claim 1 wherein the measured torque comprises automatic transmission torque.

6. The method of claim 1 wherein the measured torque comprises axle torque.

7. The method of claim 1 further comprising measuring a brake pressure applied at the at least one wheel and computing a brake torque applied at the at least one wheel from the measured brake pressure.

35. The method of claim 1 wherein the at least one vehicle state estimation comprises at least one of the following:

longitudinal accelerometer offset compensation estimation,

vehicle loading estimation,

brake effort estimation,

brake balancing estimation,

regenerative brake redistribution estimation,

brake lining friction coefficient estimation,

acceleration reconstruction estimation, and

enhanced wheel slip control estimation.

8. A vehicle state estimation method, comprising:

providing a processor executing programmed instructions stored in non-transitory memory by to determine vehicle states, the determining vehicle states comprising;

determining a measured torque at a torque actuator location on the vehicle including an electric drive motor, the torque sensed by a torque sensor at the torque actuator location;

using the measured torque to estimate an active wheel torque, the active wheel torque comprising torque transferred from the torque actuator location to at least one wheel of the vehicle;

using the active wheel torque to estimate a road torque/force of at least one wheel of the vehicle, the road torque/force comprising at least one of torque and force applied to the at least one wheel from a ground surface in contact with the at least one wheel;

using the road torque/force to determined at least one vehicle state estimation,

the at least one vehicle state estimation including at least one of the following;

longitudinal accelerometer offset compensation estimation,

vehicle loading estimation,

brake effort estimation,

brake balancing estimation,

regenerative brake redistribution estimation,

brake lining friction coefficient estimation,

acceleration reconstruction estimation, and

enhanced wheel slip control estimation; and

using the processor or another processor to apply the at least one vehicle state estimation to control at least regenerative brake application of the vehicle.

9. The method of claim 8 wherein the measured torque comprises automatic transmission torque.

10. The method of claim 8 wherein the measured motor torque comprises engine torque in hybrid mode of a hybrid vehicle.

11. The method of claim 8 wherein the measured torque comprises axle torque.

12. The method of claim 8 further comprising using the measured torque to estimate an active wheel torque, the active wheel torque comprising torque transferred from a torque actuator location to at least one wheel of the vehicle.

13. The method of claim 12 wherein the active wheel torque comprises linear active wheel torque.

14. The method of claim 8 further comprising measuring a brake pressure applied at the at least one wheel and computing a brake torque applied at the at least one wheel from the measured brake pressure.

15. The method of claim 8 wherein the longitudinal accelerometer offset compensation estimation comprises using motor actuation torque during motor-only vehicle acceleration to compute a longitudinal accelerometer offset, the longitudinal accelerometer offset used to to generate a compensated longitudinal acceleration.

16. The method of claim 8 wherein the at least one vehicle state estimation comprises the vehicle loading estimation which further comprises using a motor actuation torque during motor-only vehicle acceleration to compute loading changes of the vehicle over a previously determined value.

17. The method of claim 8 wherein the at least one vehicle state estimation comprises the brake effort estimation which further comprises converting the regenerative braking effort into an equivalent friction brake pressure effort for the regenerative braking event.

18. The method of claim 8 wherein the at least one vehicle state estimation comprises the brake balancing estimation which further comprises balancing a braking effort between regenerative braking and friction braking for a given drive braking request.

19. The method of claim 8 wherein the at least one vehicle state estimation comprises the regenerative brake redistribution estimation which further comprises taking away a portion of a regenerative braking effort from the at least one wheel comprising rear wheels of the vehicle and generating braking effort equivalent friction braking at front wheels of the vehicle such that a total braking effort stays about the same.

20. The method of claim 8 wherein the at least one vehicle state estimation comprises the brake lining friction coefficient estimation which further comprises using brake pressure based brake torque for the at least one wheel to compute a brake lining friction coefficient for a brake associated with the at least one wheel.

21. The method of claim 8 wherein the at least one vehicle state estimation comprises acceleration reconstruction estimation which further comprises an acceleration estimation of the vehicle without using a sensed longitudinal accelerometer value.

22. The method of claim 8 wherein the at least one vehicle state estimation comprises enhanced wheel slip control which further comprises using linear and nonlinear portions of the active wheel torque to estimate the road torque/force, the road torque/force used to determine a tire force for slip control.

34. The method of claim 8 wherein the at least one vehicle state estimation comprises the enhanced wheel slip control which further comprises using linear and nonlinear portions of the active wheel torque to estimate the road torque/force, the road torque/force used to determine a tire force for slip control.

23. A vehicle state estimation method, comprising:

providing a processor executing programmed instructions stored in non-transitory memory by to determine vehicle states, the determining vehicle states comprising;

obtaining a measured torque in response to sensing a torque at a torque actuator location including an electric drive motor and determining at least one of the following;

actuation torque, braking torque, automatic transmission torque, engine torque and wheel torque;

using the measured torque to formulate a vehicle state estimation for vehicle control, the vehicle state estimation including at least one of the following;

longitudinal accelerometer offset compensation estimation,

vehicle loading estimation, brake effort estimation,

brake balancing estimation,

regenerative brake redistribution estimation,

brake lining friction coefficient estimation,

acceleration reconstruction estimation and

enhanced wheel slip control estimation; and

using the processor or another processor to apply the vehicle state estimation to control at least regenerative brake application of the vehicle.

24. The method of claim 23 wherein the measured torque is used to compute linear active wheel torque.

25. The method of claim 23 wherein the measured torque is used to compute nonlinear active wheel torque.

26. The method of claim 23 wherein determining actuation torque comprises measuring engine torque in hybrid mode of a hybrid vehicle.

27. The method of claim 23 wherein the at least one vehicle state estimation comprises longitudinal accelerometer offset compensation estimation which further comprises using motor actuation torque during motor-only vehicle acceleration to compute a longitudinal accelerometer offset, the longitudinal accelerometer offset used to to generate a compensated longitudinal acceleration.

28. The method of claim 23 wherein the at least one vehicle state estimation comprises vehicle loading estimation which further comprises using a motor actuation torque during motor-only vehicle acceleration to compute loading changes of the vehicle over a previously determined value.

29. The method of claim 23 wherein the at least one vehicle state estimation comprises the brake effort estimation which further comprises converting the regenerative braking effort into an equivalent friction brake pressure effort for the regenerative braking event.

30. The method of claim 23 wherein the at least one vehicle state estimation comprises the brake balancing estimation which further comprises balancing a braking effort between regenerative braking and friction braking for a given drive braking request.

31. The method of claim 23 wherein the at least one vehicle state estimation comprises the regenerative brake redistribution estimation which further comprises taking away a portion of a regenerative braking effort from rear wheels of the vehicle and generating braking effort equivalent friction braking at front wheels of the vehicle such that a total braking effort stays about the same.

32. The method of claim 23 wherein the at least one vehicle state estimation comprises the brake lining friction coefficient estimation which further comprises using brake pressure based brake torque for at least one wheel to compute a brake lining friction coefficient for a brake associated with the at least one wheel.

33. The method of claim 23 wherein the at least one vehicle state estimation comprises the acceleration reconstruction estimation which further comprises an acceleration estimation of the vehicle without using a sensed longitudinal accelerometer value.