CPC H02P 29/032 (2016.02) [B60L 15/12 (2013.01); B60L 15/32 (2013.01); B60L 2240/423 (2013.01)] | 19 Claims |
1. A motor control unit for a vehicle comprising an electric drive motor, the motor control unit comprising a first processor, a second processor and a third processor, in which:
the third processor is configured to:
receive an actuation demand for the vehicle;
calculate a torque for the electric drive motor in dependence on the actuation demand; and
provide the calculated torque to the first processor;
the first processor is configured to:
receive the calculated torque and a control input of the vehicle; and
determine a first control output for the electric drive motor in dependence on the calculated torque and the control input; and
the second processor is configured to:
receive the first control output from the first processor and the control input of the vehicle;
calculate a second control output for the electric drive motor in dependence on the control input; and
validate the first control output by comparison to the second control output;
wherein the motor control unit is configured to provide the first control output to the electric drive motor in order to control the electric drive motor.
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