Method for controlling a torque of at least one wheel using a trained radial basis function network

A control device comprising a processor system of a vehicle, the processor system including at least one processor configured to automatedly control at least one wheel of the vehicle by performing the following:

• ascertaining, as at least a portion of a set of input values, at least one current slip value of the at least one wheel and at least one current wheel acceleration of the at least one wheel, each of the set of input values being a respective state value (I) for a respective one of a plurality of predefined state variables and (II) determined to be currently present in the vehicle, the set of input values thereby representing a current state of the vehicle;
• inputting, by the processor, the set of input values to a trained radial basis function network;
• and
• executing, by the processor, the trained radial basis function network with the input set of input values, the trained radial basis function network including:
• an input layer to which the set of input values are input;
• an intermediate hidden layer formed of a plurality of neurons, wherein:
• each of the neurons is positioned at a respective position within a multi-dimensional space formed of a plurality of dimensions;
• each of the plurality of dimensions corresponds to a respective one of the plurality of predefined state variables;
• and
• for each of the plurality of neurons, a respective value of the respective neuron is set based on a distance of a value vector formed from the set of input values from the position of the respective neuron in the multi-dimensional space;
• and
• an output layer that combines the values of the neurons, the combination of the values being a required torque change that is output by the output layer;
• and
• based on the output from the output layer, controlling, automatedly by the processor, at least one of (I) driving dynamics of the vehicle and (II) braking dynamics of the vehicle, thereby effecting the required torque change at the at least one wheel.