Granted Patent B2

US 12,330,627 · App. 18/343,601 · Granted Jun 17, 2025

Inventors: Kevin Jared Sallee (Lake Forest, CA); Michael Fei-Kit Tung (Irvine, CA); Nicholas Alan Chenoweth (Mission Viejo, CA); Shuyang Wang (Laguna Niguel, CA); Quentin Arthur Cradock Watson Spottiswoode (York Close, GB)

Assignee: Rivian IP Holdings, LLC

B60W30/02B60W40/068B60W2510/083B60W2520/26B60W2540/10B60W2556/45

Abstract

Claims (74)

1. A system, comprising:

one or more processors and memory to:

detect an amount of torque requested for a vehicle;

determine a friction level associated with a surface on which the vehicle traverses;

select, based on the amount of torque requested for the vehicle and the friction level, a first slip target modifier for a first non-zero slip target for wheel slip corresponding to a first electric motor and a second slip target modifier for a second non-zero slip target for wheel slip corresponding to a second electric motor;

perform, using the amount of torque and the friction level, a lookup in a data structure stored in the memory to select the first slip target modifier and the second slip target modifier; and

adjust, based on the first slip target modifier, the first non-zero slip target corresponding to the first electric motor used by a traction control system of the vehicle, and adjust, based on the second slip target modifier, the second non-zero slip target corresponding to the second electric motor used by the traction control system.

2. The system of claim 1 , comprising the one or more processors to:

adjust the first non-zero slip target used by the traction control system for wheel slip corresponding to a first axle of the vehicle based on a first portion of the friction level associated with wheels of the first axle; and

adjust the second non-zero slip target used by the traction control system for wheel slip corresponding to a second axle of the vehicle based on a second portion of the friction level associated with wheels of the second axle.

3. The system of claim 1 , comprising the one or more processors to:

select, based on the amount of torque and the friction level, the first slip target modifier corresponding to a front axle of the vehicle;

select, based on the amount of torque and the friction level, the second slip target modifier corresponding to a rear axle of the vehicle, wherein the second slip target modifier is different from the first slip target modifier;

adjust the first non-zero slip target used by the traction control system of the vehicle for the front axle of the vehicle based on the first slip target modifier; and

adjust the second non-zero slip target used by the traction control system of the vehicle for the rear axle of the vehicle based on the second slip target modifier.

4. The system of claim 1 , comprising the one or more processors to:

detect a drive mode of the vehicle;

select, based on the drive mode of the vehicle, the first slip target modifier corresponding to a front axle of the vehicle; and

select the second slip target modifier corresponding to a rear axle of the vehicle based on the drive mode, the amount of torque and the friction level, wherein the friction level comprises a coefficient of friction.

5. The system of claim 1 , comprising the one or more processors to:

select, via a first data structure, the first slip target modifier corresponding to the first electric motor;

adjust the second non-zero slip target corresponding to the second electric motor by the second slip target modifier selected via a second data structure and based on the amount of torque and the friction level;

adjust a third non-zero slip target corresponding to a third electric motor by a third slip target modifier selected via a third data structure and based on the amount of torque and the friction level; and

adjust a fourth non-zero slip target corresponding to a fourth electric motor by a fourth slip target modifier selected via a fourth data structure and based on the amount of torque and the friction level.

6. The system of claim 1 , comprising the one or more processors to:

determine a plurality of friction levels corresponding to a plurality of wheels of the vehicle; and

select a plurality of slip targets corresponding to the plurality of wheels based on the corresponding plurality of friction levels and the amount of torque requested for the vehicle.

7. The system of claim 1 , comprising the one or more processors to:

receive, via a network from a server remote from the one or more processors, an update to the data structure used by the one or more processors to select the first slip target modifier.

8. The system of claim 1 , comprising the one or more processors to:

determine the amount of torque requested for the vehicle based on a position of an accelerator pedal of the vehicle.

9. A method, comprising:

detecting, by one or more processors and memory, an amount of torque requested for a vehicle;

determining, by the one or more processors, a friction level of a surface on which the vehicle traverses;

selecting, by the one or more processors based on the amount of torque requested for the vehicle and the friction level, a first slip target modifier for a first non-zero slip target for wheel slip corresponding to a first electric motor and a second slip target modifier for a second non-zero slip target for wheel slip corresponding to a second electric motor;

perform, using the amount of torque and the friction level, a lookup in a data structure stored in the memory to select the first slip target modifier and the second slip target modifier; and

adjusting, by the one or more processors, based on the first slip target modifier, the first non-zero slip target corresponding to the first electric motor used by a traction control system of the vehicle based on the first slip target modifier, and adjust, based on the second slip target modifier, the second non-zero slip target corresponding to the second electric motor used by the traction control system.

10. The method of claim 1 , comprising:

performing, by the one or more processors, a lookup with the amount of torque and the friction level in a data structure stored in the memory to select the first slip target modifier.

11. The method of claim 9 , comprising:

adjusting, by the one or more processors, the first non-zero slip target used by the traction control system for wheel slip corresponding to a first axle of the vehicle based on a first portion of the friction level associated with the first axle; and

adjust the second non-zero slip target used by the traction control system for wheel slip corresponding to a second axle of the vehicle based on a second portion of the friction level associated with the second axle.

12. The method of claim 9 , comprising:

selecting, by the one or more processors, based on the amount of torque and the friction level, the first slip target modifier corresponding to a front axle of the vehicle;

selecting, by the one or more processors, based on the amount of torque and the friction level, the second slip target modifier corresponding to a rear axle of the vehicle, wherein the second slip target modifier is different from the first slip target modifier;

adjusting, by the one or more processors, the first non-zero slip target used by the traction control system of the vehicle for the front axle of the vehicle based on the first slip target modifier; and

adjusting, by the one or more processors, the second non-zero slip target used by the traction control system of the vehicle for the rear axle of the vehicle based on the second slip target modifier.

13. The method of claim 9 , comprising:

detecting, by the one or more processors, a drive mode of the vehicle;

selecting, by the one or more processors based on the drive mode of the vehicle, the first slip target modifier corresponding to a front axle of the vehicle; and

selecting, by the one or more processors, the second slip target modifier corresponding to a rear axle of the vehicle based on the drive mode, the amount of torque and the friction level.

14. The method of claim 9 , wherein the vehicle comprises a plurality of electric motors, comprising:

selecting, by the one or more processors via a first data structure, the first slip target modifier corresponding to the first electric motor of the plurality of electric motors;

adjusting, by the one or more processors, the second non-zero slip target corresponding to the second electric motor of the plurality of electric motors by the second slip target modifier selected via a second data structure and based on the amount of torque and the friction level;

adjusting, by the one or more processors, a third non-zero slip target corresponding to a third electric motor of the plurality of electric motors by a third slip target modifier selected via a third data structure and based on the amount of torque and the friction level; and

adjusting, by the one or more processors, a fourth non-zero slip target corresponding to a fourth electric motor of the plurality of electric motors by a fourth slip target modifier selected via a fourth data structure and based on the amount of torque and the friction level.

15. The method of claim 9 , comprising:

determining, by the one or more processors, a plurality of friction levels corresponding to a plurality of wheels of the vehicle; and

selecting, by the one or more processors, a plurality of slip targets corresponding to the plurality of wheels based on the corresponding plurality of friction levels and the amount of torque requested for the vehicle.

16. The method of claim 9 , comprising:

receiving, by the one or more processors via a network from a server remote from the one or more processors, an update to a data structure used by the one or more processors to select the first slip target modifier.

17. The method of claim 9 , comprising:

determining, by the one or more processors, the amount of torque requested for the vehicle based on a position of an accelerator pedal of the vehicle.

18. An electric vehicle, comprising:

one or more processors and memory to:

detect an amount of torque requested for the electric vehicle;

determine a friction level of a surface on which the electric vehicle traverses;

select, based on the amount of torque requested for the electric vehicle and the friction level, a first slip target modifier for a first non-zero slip target for wheel slip corresponding to a first electric motor and a second slip target modifier for a second non-zero slip target for wheel slip corresponding to a second electric motor;

perform, using the amount of torque and the friction level, a lookup in a data structure stored in the memory to select the first slip target modifier and the second slip target modifier; and

adjust, based on the first slip target modifier, the first non-zero slip target corresponding to the first electric motor used by a traction control system of the electric vehicle, and adjust, based on the second slip target modifier, the second non-zero slip target corresponding to the second electric motor used by the traction control system.

19. The electric vehicle of claim 18 , comprising:

a first axle and a second axle; and

the one or more processors to:

adjust the first non-zero slip target used by the traction control system for the first axle of the electric vehicle based on the first slip target modifier.

Assignments (2)

Continuity (1)

References Cited (33)