Patent ID: 8998353
Filing Date: 2015-04-07
Classification: B60T,B60W,B60Y

Abstract:
1. Method to control a vehicle having a plurality of wheels including control of regenerative brakes and friction brakes, comprising: monitoring a desired total braking torque for the vehicle based on a desired operator braking command; monitoring a desired corner force and moment distribution describing a desired force and moment of each corner of the vehicle, wherein each corner of the vehicle corresponds to a respective one of the plurality of wheels; determining a respective desired individual braking torque for each wheel to achieve the desired total braking torque for the vehicle based on the desired corner force and moment distribution; monitoring real-time actuator constraints comprising a respective braking torque limit of each of the regenerative brakes; determining a respective regenerative braking torque for each of the wheels having respective regenerative brakes, each respective regenerative braking torque based upon the desired corner force and moment distribution and the respective braking torque limit of the respective regenerative brake; determining a respective friction braking torque for each of the wheels having respective friction brakes, each respective friction braking torque based upon the desired corner force and moment distribution and the determined regenerative braking torque for each of the regenerative brakes; and controlling the vehicle based upon the determined regenerative braking torques and the determined friction braking torques, comprising: