Patent ID: 11959536
Assignee: UNIVERSITY OF WATERLOO
Field: Mechanical elements (Mechanical engineering)
Classification: CPC F | IPC F

Claim 19:
20. The method of claim 19 wherein performing the coupled state estimation includes estimating clutch torque as a state vector estimated in a unified state observer subroutine in which dual clutch differential dynamics, axle torque distribution, and wheel dynamics are each calculated within the state observer subroutine from wheel speeds at each corner of the vehicle, clutch pressure, and motor torque, wherein an output of the coupled state estimation is the state vector; and
performing the cascaded state estimation includes estimating dual clutch differential dynamics first and subsequently feeding estimated dual clutch differential dynamics information into a second state observer subroutine which includes axle torque distribution and wheel dynamics estimations, wherein an output of the cascaded state estimation is a state vector.