Intelligent driving passive pedal control
A method for assignment of vehicle control includes receiving route data indicating a route between a starting location of a vehicle and a destination location, and determining an optimal vehicle configuration for the route based on a target vehicle speed and a hybrid torque split. The method further includes receiving a driver requested torque value and determining a passive pedal torque value based on the route data and vehicle powertrain data. The method further includes selectively assigning control of the vehicle to a vehicle system or to a driver of the vehicle based on the driver requested torque value and the passive pedal torque value.
1. A method for assignment of vehicle control, the determining, by one or more processors, an optimal vehicle configuration based on route data indicating a route between a starting location and a destination location;
receiving a driver requested torque value;
determining a passive pedal torque value based on the route data and vehicle powertrain data, wherein the vehicle powertrain data includes at least one of a driveshaft torque value, a transmission output torque value, a transmission input torque value, and a flywheel torque value; and
selectively assigning control of the vehicle to a vehicle system or to a driver of the vehicle based on the driver requested torque value and the passive pedal torque value.
2. The method of claim 1 , further comprising determining the driveshaft torque value based on a tractive force of the vehicle and a tire roll radius calibration value.
3. The method of claim 2 , wherein the tractive force is determined based on at least one of a first force associated with operating the vehicle while maintaining a target vehicle speed, a second force representing an acceleration to adjust vehicle speed from a current vehicle speed to the target vehicle speed, and a third closed-loop force accounting for one or more real-time conditions.
4. The method of claim 3 , wherein the first force is determined based on a fourth force representing vehicle tire resistance at steady state on a flat road and a fifth force representing a torque that causes the vehicle to ascend or descend a road, wherein the second force is determined based on a calibrated acceleration rate and a mass of the vehicle, and wherein the third closed-loop force is determined based on an integral term representing a difference between the current vehicle speed and the target vehicle speed.
5. The method of claim 1 , further comprising:
determining the transmission output torque value based on the driveshaft torque value and a final drive ratio calibration value;
determining the transmission input torque value based on the transmission output torque value and a value indicating a current gear of the vehicle; and
determining the flywheel torque value based on the transmission input torque value and a drivetrain efficiency calibration value.
6. The method of claim 1 , wherein selectively assigning control of the vehicle includes:
comparing the driver requested torque value and the passive pedal torque value;
selectively assigning control of the vehicle to the vehicle system in response to the passive pedal torque value being greater than the driver requested torque value; and
selectively assigning control of the vehicle to the driver in response to the passive pedal torque value being less than the driver requested torque value.
7. The method of claim 1 , wherein selectively assigning control of the vehicle includes:
comparing the driver requested torque value and a torque override value; and
selectively assigning control of the vehicle to the driver of the vehicle in response to the driver requested torque value being greater than or equal to the torque override value, wherein the torque override value is greater than the passive pedal torque value.
8. An apparatus for assignment of vehicle control, comprising:
one or more processors; and
a memory that includes instructions that, when executed by the one or more processors, cause the one or more processors to:
determine an optimal vehicle configuration based on route data indicating a route between a starting location and a destination location;
receive a driver requested torque value;
determine a passive pedal torque value based on vehicle powertrain data, wherein the vehicle powertrain data includes at least one of a driveshaft torque value, a transmission output torque value, a transmission input torque value, and a flywheel torque value; and
selectively assign control of the vehicle to a vehicle system or to a driver of the vehicle based on the driver requested torque value and the passive pedal torque value.
9. The apparatus of claim 8 , wherein the instructions further cause the one or more processors to determine the driveshaft torque value based on a tractive force of the vehicle and a tire roll radius calibration value.
10. The apparatus of claim 9 , wherein the tractive force is determined based on a first force associated with operating the vehicle while maintaining a target vehicle speed, a second force representing an acceleration to adjust vehicle speed from a current vehicle speed to the target vehicle speed, and a third closed-loop force accounting for one or more real-time conditions.
11. The apparatus of claim 8 , wherein the instructions cause the one or more processors to:
determine the transmission output torque value based on the driveshaft torque value and a final drive ratio calibration value; and
determine the transmission input torque value based on the transmission output torque value and a value indicating a current gear of the vehicle.
12. The apparatus of claim 8 , wherein the instructions further cause the one or more processors to determine the flywheel torque value based on the transmission input torque value and a drivetrain efficiency calibration value.
13. The apparatus of claim 8 , wherein the instructions further cause the one or more processors to selectively assign control of the vehicle to the vehicle system or to the driver of the vehicle by:
comparing the driver requested torque value and the passive pedal torque value; and
selectively assigning control of the vehicle to the vehicle system or to the driver in response to the passive pedal torque value being greater than the driver requested torque value.
14. The apparatus of claim 8 , wherein the instructions further cause the one or more processors to selectively assign control of the vehicle to the vehicle system or to a driver of the vehicle by:
comparing the driver requested torque value and a torque override value; and
selectively assigning control of the vehicle to the driver of the vehicle in response to the driver requested torque value being greater than or equal to the torque override value, wherein the torque override value is greater than the passive pedal torque value.
15. A non-transitory computer-readable storage medium, comprising instructions that, when executed by one or more processors, cause the one or more processors to:
determine an optimal vehicle configuration based on route data indicating a route between a starting location of a vehicle and a destination location;
receive a driver requested torque value;
determine a passive pedal torque value based on the route data and vehicle powertrain data, wherein the vehicle powertrain data includes at least one of a driveshaft torque value, a transmission output torque value, a transmission input torque value, and a flywheel torque value; and
selectively assign control of the vehicle to a vehicle system or to a driver of the vehicle based on the driver requested torque value and the passive pedal torque value.
16. The non-transitory computer-readable storage medium of claim 15 , wherein the instructions further cause the one or more processors to determine the driveshaft torque value based on a tractive force of the vehicle and a tire roll radius calibration value.
17. The non-transitory computer-readable storage medium of claim 15 , wherein the instructions further cause the one or more processors to:
determine the transmission output torque value based on the driveshaft torque value and a final drive ratio calibration value; and
determine the transmission input torque value based on the transmission output torque value and a value indicating a current gear of the vehicle.