Patent ID: 11932117
Assignee: RIVIAN IP HOLDINGS, LLC
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 18:
19. A vehicle comprising:
a plurality of electric motors, each comprising a motor shaft coupled to a respective one of a plurality of wheels of the vehicle;
an accelerator pedal configured to provide an accelerator pedal input;
power electronics configured to output power to each of the plurality of electric motors to generate a respective torque to a respective wheel;
a plurality of sensors, each configured to output a signal indicating a wheel speed of a corresponding wheel;
input circuitry configured to receive the accelerator pedal input and the signals of the plurality of sensors;
control circuitry configured to:
apply an increasing torque to each of the plurality of wheels in an open-loop mode based on the accelerator pedal input;
determine a target wheel speed for each of the plurality of wheels based on the accelerator pedal input;
identify a slippage for one or more of the plurality of wheels; and
in response to identifying the slippage for the one or more of the plurality of wheels, entering a closed-loop mode wherein the control circuitry is further configured to:
monitor, using the signals of the plurality of sensors, wheel speed of each of the one or more of the plurality of wheels;
determine, for each of the one or more of the plurality of wheels, a difference based on the monitored wheel speed and the target wheel speed; and
adjust the respective torque to be generated to each respective one of the one or more of the plurality of wheels based on the respective difference to achieve the target wheel speed.