US 12,420,645 B1
Methods and apparatus for performing hill hold with reduced oscillations in vehicle position
Krishnakumar Ramamoorthy, Foster City, CA (US); Tai-Sik Hwang, San Jose, CA (US); and James Michael Castelaz, Alameda, CA (US)
Assigned to Motiv Power Systems, Inc., Foster City, CA (US)
Filed by Motiv Power Systems, Inc., Foster City, CA (US)
Filed on Jan. 27, 2023, as Appl. No. 18/102,575.
Claims priority of provisional application 63/267,478, filed on Feb. 2, 2022.
Int. Cl. B60L 15/20 (2006.01)
CPC B60L 15/20 (2013.01) [B60L 2240/12 (2013.01); B60L 2240/14 (2013.01); B60L 2240/26 (2013.01); B60L 2240/421 (2013.01); B60L 2240/642 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An apparatus comprising:
a motor coupled to one or more wheels of a vehicle; and
a resonance suppression control circuit configured to:
generate a motor set torque signal;
generate voltage waveforms that drive the motor, wherein the voltage waveforms are based on the motor set torque signal;
receive a measured motor speed indicator from the motor;
estimate motor torque from the measured motor speed indicator;
estimate shaft torque from the measured motor speed indicator; and
update the motor set torque signal based on the estimated motor torque and estimated shaft torque so that the motor is adjusted to prevent a change in vehicle position.