公开(公告)号：US20220258723A1

公开(公告)日：2022-08-18

申请号：US17175903

申请日：2021-02-15

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Yiran Hu ,  Ruixing Long ,  Kevin J. Storch ,  Robert C. Gibson ,  Bharath Pattipati ,  Paul G. Otanez

IPC: B60W20/20 ,  B60W20/30 ,  B60W30/18 ,  B60W30/19

Abstract: A motor vehicle includes first and second drive axles coupled to respective sets of road wheels, torque actuators inclusive of rotary electric machines configured to transmit respective output torques to the drive axles, and a main controller in communication with the torque actuators. The controller receives vehicle inputs indicative of a total longitudinal and lateral motion request. In response, the controller calculates a total longitudinal torque request and/or a total longitudinal speed request, a yaw rate request, and a lateral velocity request, then determines, using a cost optimization function, a torque vector for allocating the total longitudinal torque request and/or speed request, the yaw rate request, and the lateral velocity request to the drive axles within predetermined constraints. The controller also transmits a closed-loop control signal to each torque actuator or local controllers thereof to apply the torque vector via the drive axles.