Intelligent motor vehicles and control logic for speed horizon generation and transition for one-pedal driving

An electric-drive vehicle comprising:

• a vehicle body with multiple road wheels;
• a vehicle powertrain with a traction motor mounted on the vehicle body and operable to drive one or more of the road wheels to thereby propel the electric-drive vehicle;
• a driver input device operable to receive vehicle control inputs from a driver of the electric-drive vehicle;
• and
• a vehicle controller programmed to:
• receive, from the driver via the driver input device, an acceleration command for the powertrain of the electric-drive vehicle while traversing a road segment;
• determine a torque or acceleration request corresponding to the acceleration command of the driver from an acceleration table;
• shape the torque or acceleration request based on a transient acceleration table;
• determine compensated and uncompensated accelerations from the shaped torque or acceleration request, wherein the compensated acceleration is based on an estimated road grade of the road segment and an estimated vehicle mass of the motor vehicle, and the uncompensated acceleration is based on a zero road grade and a nominal vehicle mass or the estimated vehicle mass;
• calculate a final speed horizon profile as:
• a speed-controlled speed profile based on the uncompensated acceleration when a vehicle speed of the motor vehicle is at a calibratable or near-zero vehicle speed, a blend-controlled speed profile based on a blend of the compensated and uncompensated accelerations when the vehicle speed is above the near-zero vehicle speed and below a predefined threshold vehicle speed, and a torque-controlled speed profile based on the uncompensated acceleration when the vehicle speed is above the predefined threshold vehicle speed;
• and
• transmit a command signal to the powertrain to output a requested axle torque based on the calculated final speed horizon profile.