CPC B60L 15/2009 (2013.01) [B60W 10/08 (2013.01); B60W 10/18 (2013.01); B60W 10/26 (2013.01); B60W 30/02 (2013.01); B60W 30/18127 (2013.01); B60W 30/18172 (2013.01); B60W 40/02 (2013.01); B60W 40/107 (2013.01); G05D 1/0223 (2013.01); B60W 2510/244 (2013.01); B60W 2540/18 (2013.01); B60W 2720/106 (2013.01)] | 26 Claims |
1. A system for regulating impact of a low-speed vehicle (LSV) on a real-world environment, comprising:
an electric motor-generator coupled to one or more wheels of the LSV, the electric motor-generator configured to supply a motive force to the one or more wheels in a first mode of operation, and configured to supply a regenerative braking force to the one or more wheels in a second mode of operation;
a supplemental braking system configured to supply a supplemental braking force to the one or more wheels; and
a controller coupled to the electric motor-generator and the supplemental braking system, wherein the controller is configured to control the electric motor-generator and the supplemental braking system to prevent the one or more wheels from rolling with slipping on a terrain over which the LSV travels by:
controlling the electric motor-generator, while in the first mode of operation, to increase a speed of the LSV in correspondence with a first velocity-time curve defined by a first cubic function and prevent the one or more wheels from rolling with slipping as the LSV travels; and
controlling both the electric motor-generator, while in the second mode of operation, and the supplemental braking system, to decrease the speed of the LSV in correspondence with a second velocity-time curve defined by a second cubic function and prevent the one or more wheels from rolling with slipping as the LSV travels.
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