CPC B60L 15/2009 (2013.01) [B60L 7/18 (2013.01); B60W 10/08 (2013.01); B60W 10/18 (2013.01); B60W 30/18127 (2013.01); B60W 60/001 (2020.02); B60W 2300/145 (2013.01); B60W 2510/18 (2013.01); B60W 2520/10 (2013.01); B60W 2552/15 (2020.02); B60W 2710/08 (2013.01); B60W 2710/18 (2013.01)] | 10 Claims |
1. A road vehicle system for autonomous augmentation of a combination vehicle system comprising a tractor and a trailer, the road vehicle system comprising:
a chassis defining a longitudinal axis;
a first vehicle coupling configured to connect to the tractor and mounted at a forward end of the chassis relative to the longitudinal axis;
an electric powertrain, comprising:
a battery mounted to the chassis; and
a traction motor;
a vehicle sensor suite comprising a first sensor coupled to the first vehicle coupling and configured to measure a longitudinal force between the first vehicle coupling and the chassis; and
an autonomous controller configured to:
based on the longitudinal force, determine a vehicle trajectory with a dynamic model, the dynamic model comprising: a road grade estimate and an adaptive observer, wherein the dynamic model is configured to update the adaptive observer based on a dynamic model error, a vehicle state estimation, and the road grade estimate;
with a command model, determine a command based on the vehicle trajectory; and
control the electric powertrain based on the command.
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