Creep compensation using road grade and mass estimation
A method according to an exemplary aspect of the present disclosure includes, among other things, controlling a torque output of an electric machine of an electrified vehicle during a vehicle creep condition, the torque output calculated based at least on a road grade estimate and a vehicle mass estimate.
1. A method implemented by a vehicle system, the vehicle system comprising: a transmission gearbox; an electric machine that supplies torque to an input shaft of said transmission gearbox; and a control unit in communication with the electric machine, the control unit implementing the method, the method comprising:
deriving a first torque compensation value from a road grade estimate;
deriving a second torque compensation value from a vehicle mass estimate; and
controlling a torque output of an electric machine of an electrified vehicle during a vehicle creep condition, the torque output calculated based at least on the first torque compensation value and the second torque compensation value; and
modifying the torque output of the electric machine to compensate for variations in the road grade estimate and the vehicle mass estimate during the vehicle creep condition.
2. The method as recited in claim 1 , wherein the vehicle creep condition occurs when the electrified vehicle is in a drive gear and both an accelerator pedal and a brake pedal are tipped out.
3. The method as recited in claim 1 , wherein the controlling includes determining whether the input shaft of the transmission gearbox is spinning or stationary during the vehicle creep condition.
4. The method as recited in claim 1 , wherein the controlling includes increasing or decreasing the torque output to compensate for variations in the road grade estimate and the vehicle mass estimate.
5. The method as recited in claim 1 , wherein the controlling includes:
arbitrating a desired idle speed of an engine and a minimum impeller speed of a torque converter to calculate a desired speed of the electric machine; and
utilizing the desired speed of the electric machine to calculate the torque output.
6. The method as recited in claim 1 , wherein the controlling includes:
estimating driveline disturbances present during the vehicle creep condition; and
adjusting the torque output of the electric machine to compensate for the driveline disturbances.
7. The method as recited in claim 1 , comprising deriving a third torque compensation value from driveline losses and a fourth torque compensation value from transmission pump loads.
8. The method as recited in claim 7 , comprising determining a feed-forward torque by adding the first torque compensation value, the second torque compensation value, the third torque compensation value and the fourth torque compensation value.
9. The method as recited in claim 8 , wherein the controlling includes modifying the torque output based on the feed-forward torque and a feedback torque.
10. The method as recited in claim 7 , comprising deriving a fifth torque compensation value based on an amount of inertia required to spin up an input shaft of a transmission gearbox.
11. The method as recited in claim 10 , comprising determining a feed-forward torque by adding the first torque compensation value, the second torque compensation value, the third torque compensation value, the fourth torque compensation value, and the fifth torque compensation value.
12. The method as recited in claim 11 , wherein the controlling includes modifying the torque output based on the feed-forward torque and a feedback torque.
13. The method as recited in claim 1 , wherein the electrified vehicle is a modular hybrid transmission (MHT) vehicle.
14. A vehicle system, comprising:
a transmission gearbox;
an electric machine that supplies torque to an input shaft of said transmission gearbox; and
a control unit in communication with said electric machine and configured to estimate a road grade and a vehicle mass and modify a torque output of said electric machine to compensate for variations in the road grade and the vehicle mass during vehicle creep conditions.
15. The vehicle system as recited in claim 14 , comprising a torque converter disposed between said electric machine and said transmission gearbox.
16. The vehicle system as recited in claim 14 , comprising a transmission pump pressurized by said electric machine.
17. The vehicle system as recited in claim 14 , wherein said control unit is configured to calculate a desired speed of the electric machine and a plurality of driveline disturbances present during the vehicle creep conditions.
18. The vehicle system as recited in claim 14 , comprising an accelerator pedal, a brake pedal and a shift device in communication with said control unit, said control unit configured to detect said vehicle creep conditions based on signals from said accelerator pedal, said brake pedal and said shift device.