US 2026/0184318 A1Published application

Vehicle systems and related calibration methods

AssigneeGM Global Technology Operations LLC

InventorsAmi Woo, Mohammadali Shahriari, Hassan Askari, Dhaval Kavindra Sompura, Kevin A. O'Dea

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Abstract

Vehicles and related systems and methods are provided for dynamic and adaptive coefficient estimation. One method involves detecting a steady state condition and dynamically determining an axle torque reference value and an associated a vehicle speed reference value based on measurement data during the steady state condition. After the steady state condition, the method determines an updated axle torque reference value using the axle torque reference value and a stored axle torque reference value, determines an updated vehicle speed reference value using the vehicle speed reference value and a stored vehicle speed reference value, determines estimated values for one or more nominal axle torque coefficients based at least on a relationship between the updated axle torque reference value and the updated vehicle speed reference value, and determines a torque command for operating the vehicle using the estimated nominal axle torque coefficient values.

Claims20

Dependent claims

A method of operating a vehicle, the method comprising:

detecting, by a controller associated with the vehicle, a steady state condition based at least in part on measurement data from one or more sensors associated with the vehicle during operation of the vehicle;
during the steady state condition:
dynamically determining, by the controller, an axle torque reference value based at least in part on axle torque measurement data during the steady state condition;
and
dynamically determining, by the controller, a vehicle speed reference value based at least in part on speed measurement data during the steady state condition;
and
after the steady state condition:
determining, by the controller, an updated axle torque reference value based at least in part on the axle torque reference value and a stored axle torque reference value from a preceding steady state condition;
determining, by the controller, an updated vehicle speed reference value based at least in part on the vehicle speed reference value and a stored vehicle speed reference value from the preceding steady state condition;
determining, by the controller, estimated values for one or more nominal axle torque coefficients based at least on a relationship between the updated axle torque reference value and the updated vehicle speed reference value;
determining, by the controller, a torque command for operating the vehicle based at least in part on a targeted speed for the vehicle using the estimated values for the one or more nominal axle torque coefficients;
and
operating, by the controller, one or more actuators onboard the vehicle in accordance with the torque command.

10 more elements

A non-transitory computer-readable medium comprising executable instructions that, when executed by a processor, cause the processor to provide a control system configurable to:

detect a steady state condition based at least in part on measurement data from one or more sensors associated with a vehicle during operation of the vehicle;
during the steady state condition:
dynamically determine an axle torque reference value based at least in part on axle torque measurement data during the steady state condition;
and
dynamically determine a vehicle speed reference value based at least in part on speed measurement data during the steady state condition;
and
after the steady state condition:
determine an updated axle torque reference value based at least in part on the axle torque reference value and a stored axle torque reference value from a preceding steady state condition;
determine an updated vehicle speed reference value based at least in part on the vehicle speed reference value and a stored vehicle speed reference value from the preceding steady state condition;
determine estimated values for one or more nominal axle torque coefficients based at least on a relationship between the updated axle torque reference value and the updated vehicle speed reference value;
determine a torque command for operating the vehicle based at least in part on a targeted speed for the vehicle using the estimated values for the one or more nominal axle torque coefficients;
and
operate one or more actuators onboard the vehicle in accordance with the torque command.

10 more elements

A vehicle comprising:

a propulsion system;
one or more sensor systems to obtain measurement data including axle torque measurement data and speed measurement data;
and
a controller coupled to the propulsion system and the one or more sensor systems that, by a processor, is configurable to:
detect a steady state condition based at least in part on the measurement data;
during the steady state condition:
dynamically determine an axle torque reference value based at least in part on the axle torque measurement data during the steady state condition;
and
dynamically determine a vehicle speed reference value based at least in part on the speed measurement data during the steady state condition;
and
after the steady state condition:
determine an updated axle torque reference value based at least in part on the axle torque reference value and a stored axle torque reference value from a preceding steady state condition;
determine an updated vehicle speed reference value based at least in part on the vehicle speed reference value and a stored vehicle speed reference value from the preceding steady state condition;
determine estimated values for one or more nominal axle torque coefficients based at least on a relationship between the updated axle torque reference value and the updated vehicle speed reference value;
determine a torque command for operating the vehicle based at least in part on a targeted speed for the vehicle using the estimated values for the one or more nominal axle torque coefficients;
and
operate the propulsion system in accordance with the torque command.

14 more elements

Dependencies are inferred from the claim text.