US 12,304,495 B1
Torque limits for low friction driving
Joshua Caleb Wade, Redwood City, CA (US); Luis Riera, Redwood City, CA (US); Satya Rama Aditya Pinapala, Santa Clara, CA (US); Thomas Mueller-Werth, Santa Clara, CA (US); Yufei Zhu, Santa Clara, CA (US); and Saul Martin Silverberg, Burlingame, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Jul. 31, 2023, as Appl. No. 18/362,948.
Int. Cl. B60W 10/04 (2006.01); B60W 40/06 (2012.01)
CPC B60W 40/06 (2013.01) [B60W 10/04 (2013.01); B60W 2520/105 (2013.01); B60W 2520/26 (2013.01); B60W 2710/0666 (2013.01); B60W 2710/083 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle comprising:
one or more wheels;
a drive unit including a motor to drive the one or more wheels;
a sensor configured to detect an acceleration of the motor;
a drag torque control unit configured to determine torque commands and associated with a first latency;
one or more processors; and
one or more non-transitory media storing instructions that, when executed by the one or more processors, perform operations comprising:
receiving a command for controlling the vehicle;
determining, based at least in part on the command, a determined torque for application at the drive unit;
receiving, from the sensor, a measured acceleration of the motor;
determining, based at least in part on the measured acceleration being equal to or exceeding a threshold acceleration, a wheel slip condition;
determining, based at least in part on the wheel slip condition and the determined torque, a modified torque limit, wherein the determining the modified torque limit is associated with a second latency, lower than the first latency; and
controlling the drive unit according to the modified torque limit.