US 11,752,881 B2
Intelligent vehicles and control logic for brake torque request estimation for cooperative brake system control
Paul G. Otanez, Franklin, MI (US); Yiran Hu, Shelby Township, MI (US); Nathaniel S. Michaluk, Howell, MI (US); Krunal P. Patel, South Lyon, MI (US); Adam J. Heisel, South Lyon, MI (US); Kevin J. Storch, Brighton, MI (US); Jacob M. Knueven, Southfield, MI (US); and Matthew Yard, Milford, MI (US)
Assigned to GM Global Technology Operations LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Jan. 20, 2021, as Appl. No. 17/153,244.
Prior Publication US 2022/0227237 A1, Jul. 21, 2022
Int. Cl. B60L 15/20 (2006.01); B60T 8/17 (2006.01); B60W 10/18 (2012.01); B60W 10/184 (2012.01); B60W 30/09 (2012.01)
CPC B60L 15/2009 (2013.01) [B60T 8/1701 (2013.01); B60W 10/18 (2013.01); B60W 10/184 (2013.01); B60W 30/09 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of operating a motor vehicle, the motor vehicle including a plurality of road wheels with a first wheel and a second wheel, first and second axles, a friction brake system, a powertrain system, and an input device operable to receive control inputs from an operator of the motor vehicle, the method comprising:
receiving, via a vehicle controller from the operator via the input device, a vehicle control command with an associated torque request for the motor vehicle;
determining, via the vehicle controller, a propulsion actuator constraint limiting a brake torque capacity available from a powertrain actuator of the powertrain system;
determining, via the vehicle controller using the propulsion actuator constraint and the torque request input by the operator, a propulsion brake torque distribution for the road wheels of the motor vehicle and a maximum brake torque capacity for the powertrain actuator, the propulsion brake torque distribution including a first propulsion torque of the powertrain actuator allocated to the first axle or the first wheel of the motor vehicle and a second propulsion torque of the powertrain actuator allocated to the second axle or the second wheel of the motor vehicle;
determining a first friction brake torque request using the propulsion brake torque distribution, the torque request, and a vehicle control mode of the powertrain system;
determining a second friction brake torque request using the maximum brake torque capacity, the torque request, and the vehicle control mode;
determining a final friction brake torque command by arbitrating between the first and second friction brake torque requests based on a brake torque optimization decision; and
transmitting, via the vehicle controller, the final friction brake torque command to the friction brake system to apply a friction-based brake torque and a final powertrain brake command to the powertrain actuator to apply a powertrain actuator-based brake torque.