Automatic calibration of individual wheel hub motor speed in traction systems

A vehicle comprising:

• a plurality of wheels;
• a master control unit (MCU);
• a plurality of traction systems, wherein each of the traction systems corresponds to one of the wheels and comprises a traction motor for providing rotational force to the corresponding one of the wheels, wherein the traction motor comprises an electric motor;
• and
• a plurality of rolling radius offset values stored in a memory device accessible by the MCU, wherein each of the rolling radius offset values corresponds to one of the wheels;
• wherein the MCU determines for each one of the wheels a command speed based on the rolling radius offset value corresponding to the one of the wheels in combination with at least one of a tire diameter of the one of the wheels, a steered angle of the vehicle, a traction pedal command, and vehicle geometry information, and provides the determined command speed for the one of the wheels to the traction system corresponding to the one of the wheels;
• and
• wherein each of the traction systems controls a speed of the corresponding one of the wheels based on the determined command speed for the one of the wheels received from the MCU.

A computer-implemented method comprising:

• determining for each of a plurality of wheels of a vehicle a command speed based on a rolling radius offset value corresponding to the wheel in combination with at least one of a tire diameter of the one of the wheels, a steered angle of the vehicle, a traction pedal command, and vehicle geometry information, wherein the rolling radius offset values are stored in a non-volatile memory device;
• for each of the determined command speeds, providing the determined command speed to a traction system for the corresponding wheel, wherein the traction system controls a speed of the corresponding wheel in accordance with the received command speed for the corresponding the wheel;
• determining whether a set of calibration mode conditions has been met;
• and
• if the set of calibration mode conditions has been met, causing the vehicle to operate in a calibration mode.