Intelligent motor torque control

A system for controlling acceleration within an autonomous vehicle, comprising an autonomous vehicle controller configured to:

• receive an acceleration command based on a desired acceleration of the vehicle;
• receive, from a plurality of onboard sensors within the autonomous vehicle, real-time data related to a radius of tires of the vehicle, presence of a trailer connected to the vehicle, and a mass of the vehicle including any trailer connected thereto;
• estimate the radius of the tires of the vehicle based on the real-time data related to the radius of the tires of the vehicle, including, when the vehicle is an all-wheel-drive vehicle, estimate the radius of each tire of the vehicle, and calculate an average tire radius of all the tires of the vehicle;
• determine if the trailer is connected to the vehicle based on the real-time data related to the presence of the trailer connected to the vehicle;
• estimate a total weight of the vehicle, including any trailer connected thereto, based on the real-time data related to the mass of the vehicle including any trailer connected thereto;
• calculate a motor torque command as a function of the acceleration command, the estimated radius of the tires of the vehicle and the estimated total weight of the vehicle;
• actuate a propulsion system of the vehicle according to the calculated motor torque command;
• and
• accelerate the vehicle according to the acceleration command.

A vehicle having a system for controlling acceleration within an autonomous vehicle, the system including an autonomous vehicle controller configured to:

• receive an acceleration command based on a desired acceleration of the vehicle;
• receive, from a plurality of onboard sensors within the autonomous vehicle, real-time data related to a radius of tires of the vehicle, presence of a trailer connected to the vehicle, and a mass of the vehicle including any trailer connected thereto;
• estimate the radius of the tires of the vehicle based on the real-time data related to the radius of the tires of the vehicle, wherein the autonomous vehicle controller is adapted to one of:
• when the vehicle is an all-wheel-drive vehicle, estimate the radius of each tire of the vehicle, and calculate an average tire radius of all the tires of the vehicle;
• when the vehicle is a front-wheel-drive vehicle, estimate the radius of each front tire of the vehicle, and calculate an average tire radius of all the front tires of the vehicle;
• when the vehicle is a rear-wheel-drive vehicle, estimate the radius of each rear tire of the vehicle, and calculate an average tire radius of all the rear tires of the vehicle;
• and
• when real-time data related to the radius of the tires of the vehicle is unavailable, one of use a pre-determined default value for the radius of the tires of the vehicle, or use a previous estimated radius of the tires of the vehicle;
• determine if the trailer is connected to the vehicle based on the real-time data related to the presence of the trailer connected to the vehicle;
• estimate a total weight of the vehicle, including any trailer connected thereto, based on the real-time data related to the mass of the vehicle including any trailer connected thereto, wherein the autonomous vehicle controller is adapted to one of:
• when no trailer is connected to the vehicle, estimate the total weight of the vehicle as the estimated weight of the vehicle alone;
• when the trailer is connected to the vehicle, calculate the estimated total weight of the vehicle as a function of the estimated weight of the vehicle alone and a multiplier based on the estimated weight of the vehicle alone and a speed of the vehicle;
• and
• when real-time data related to the mass of the vehicle including any trailer connected thereto is unavailable, one of use a pre-determined default value for the total weight, or use a previous estimated total weight;
• access, with a machine learning model in communication with a database, data related to past occurrences where a motor torque command was calculated;
• calculate the motor torque command for a current acceleration command, current estimated radius of the tires of the vehicle, current estimated total weight of the vehicle and current operating and environmental conditions based on prior calculated motor torque commands for substantially similar acceleration command, estimated radius of the tires of the vehicle, estimated total weight of the vehicle and operating and environmental conditions;
• actuate a propulsion system of the vehicle according to the calculated motor torque command;
• accelerate the vehicle according to the acceleration command;
• receive, from the plurality of onboard sensors, data related to an actual acceleration of the vehicle;
• compare the actual acceleration of the vehicle to the desired acceleration of the vehicle;
• adjust the calculated motor torque command based on variation between the actual acceleration of the vehicle and the desired acceleration of the vehicle;
• and
• update the machine learning model based on adjustments made to the calculated motor torque command.