Methods of learning long term brake corner specific torque variation

A vehicle system for controlling a vehicle with a brake system, the vehicle system comprising:

• a sensor system configured for determining a vehicle mass, a wheel radius, and a deceleration of the vehicle during a braking operation;
• a brake pressure module configured for determining a brake pressure of the brake system during a braking operation;
• a torque estimation module for estimating a specific torque of the brake system based on the vehicle mass, the wheel radius, the brake pressure, and the deceleration, wherein the torque estimation module is configured for storing the specific torque based on a brake temperature and an ambient humidity during the braking operation;
• and
• the brake system for operating the vehicle based on the specific torque.

A vehicle, comprising:

• a sensor system configured for determining a vehicle mass, a wheel radius, and a deceleration of the vehicle during a braking operation;
• a brake system;
• and
• a control system comprising:
• a brake pressure module configured for determining a brake pressure of the brake system during a braking operation;
• a qualifying brake apply module configured for determining whether the braking operation is a qualifying brake application that is suitable for learning the specific torque, wherein determining whether the braking operation is a qualifying brake operation is based on a vehicle mass, a road grade, a rain status, a road surface coefficient, a brake burnish status, and a rate of change of the deceleration;
• and
• a torque estimation module for estimating a specific torque of the brake system based on the vehicle mass, the wheel radius, the brake pressure, and the deceleration wherein the torque estimation module is configured for estimating the specific torque in response to determining that the braking operation is the qualifying brake application, and
• wherein the brake system is configured for operating the vehicle based on the specific torque.