US 12,391,129 B2
Vehicle motion control considering dynamic gear ratio for multi-speed drive systems
Su-Yang Shieh, Clawson, MI (US); Chunhao J. Lee, Troy, MI (US); Dongxu Li, Troy, MI (US); and Paul Guillermo Otanez, Franklin, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Dec. 13, 2022, as Appl. No. 18/080,248.
Prior Publication US 2024/0190265 A1, Jun. 13, 2024
Int. Cl. F16H 61/00 (2006.01); B60L 15/20 (2006.01); F16H 59/14 (2006.01); F16H 59/18 (2006.01); F16H 59/48 (2006.01); F16H 61/02 (2006.01)
CPC B60L 15/2054 (2013.01) [F16H 59/141 (2013.01); F16H 59/18 (2013.01); F16H 59/48 (2013.01); F16H 61/0204 (2013.01); B60L 2240/16 (2013.01); B60L 2240/423 (2013.01); B60L 2240/486 (2013.01); B60L 2250/28 (2013.01); F16H 2059/148 (2013.01); F16H 2061/009 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of operating a gearbox of a vehicle, comprising:
receiving a desired vehicle acceleration at a processor;
creating an objective function that relates the desired vehicle acceleration to a torque, wherein the objective function is:

OG Complex Work Unit Math
where Tm,f,1(t) is the torque at a first front motor, Tm,f,2(t) is the torque at a second front motor, Tm,r,1(t) is the torque at a first rear motor, Tm,r,2(t) is the torque at a second rear motor, ades is a desired acceleration, fst is an index of vehicle stability, frsp is an index of vehicle responsiveness, ηpt is a powertrain efficiency and wi are weighting factors;
optimizing the objective function to determine the torque that minimizes the objective function; and
applying the torque to the vehicle to achieve the desired vehicle acceleration.