US 12,377,878 B2
Wheel torque estimation for autonomous driving
Jingxuan Liu, San Diego, CA (US); Arda Kurt, San Diego, CA (US); and Junbo Jing, San Diego, CA (US)
Assigned to TUSIMPLE, INC., San Diego, CA (US)
Filed by TUSIMPLE, INC., San Diego, CA (US)
Filed on Jun. 26, 2023, as Appl. No. 18/341,121.
Claims priority of provisional application 63/367,094, filed on Jun. 27, 2022.
Prior Publication US 2023/0415777 A1, Dec. 28, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 40/076 (2012.01); B60W 40/107 (2012.01); B60W 40/13 (2012.01); B60W 50/00 (2006.01); H04L 12/40 (2006.01)
CPC B60W 60/0015 (2020.02) [B60W 40/076 (2013.01); B60W 40/107 (2013.01); B60W 40/13 (2013.01); B60W 50/00 (2013.01); H04L 12/40 (2013.01); B60W 2050/0052 (2013.01); B60W 2510/0657 (2013.01); B60W 2510/18 (2013.01); B60W 2530/10 (2013.01); B60W 2552/15 (2020.02); H04L 2012/40215 (2013.01); H04L 2012/40273 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for controlling a vehicle, comprising:
generating, based on a mechanical model of at least a transmission of the vehicle, a first estimate of a wheel torque;
generating, based on a velocity and an acceleration of the vehicle, a second estimate of the wheel torque;
generating, based on using a Kalman filter to combine the first estimate of the wheel torque and the second estimate of the wheel torque, a third estimate of the wheel torque;
generating, based on applying an extended Kalman filter (EKF) with a damping process model to the third estimate of the wheel torque, a fourth estimate of the wheel torque;
generating, based on dividing the fourth estimate of the wheel torque, a plurality of wheel torque components corresponding to a propulsion of an engine of the vehicle, a braking of the engine of the vehicle, and an air brake of the vehicle; and
controlling, based on the plurality of wheel torque components, the vehicle.