A method is provided for scheduling regenerative braking torque, including: sensing a position of an accelerator pedal; generating a torque request value in response to the sensed accelerator pedal position; determining a speed of operation of a motor/generator; determining a torque limit in response to the torque request value and the determined speed of the motor/generator; generating a regenerative braking command in response to the torque limit; and outputting the regenerative braking command to the motor/generator.

A method for operating an electrified drive train, the drivetrain including a driving coupling of an electric motor to at least one wheel of a working machine, the method including generating an acceleration torque by the electric motor, the acceleration torque leading to an increase in speed of the at least one wheel, generating a braking torque, the braking torque leading to a reduction in speed of the at least one wheel, generating a second acceleration torque by the at least one wheel, the second acceleration torque leading to an increase in a speed of the electric motor, and generating a second braking torque by the at least one wheel, the second braking torque leading to a reduction in the speed of the electric motor, wherein, during a regenerative operation of the electric motor, an unwanted acceleration of the working machine is counteracted by an automated additional braking intervention.

A method for operating an electrified drive train, the drivetrain including a driving coupling of an electric motor to at least one wheel of a working machine, the method including generating an acceleration torque by the electric motor, the acceleration torque leading to an increase in speed of the at least one wheel, generating a braking torque, the braking torque leading to a reduction in speed of the at least one wheel, generating a second acceleration torque by the at least one wheel, the second acceleration torque leading to an increase in a speed of the electric motor, and generating a second braking torque by the at least one wheel, the second braking torque leading to a reduction in the speed of the electric motor, wherein, during a regenerative operation of the electric motor, an unwanted acceleration of the working machine is counteracted by an automated additional braking intervention.

A control system includes one or more processing circuits comprising one or more memory devices coupled to one or more processors. The one or more memory devices are configured to store instructions thereon that, when executed by the one or more processors, cause the one or more processors to acquire speed data regarding current speeds of tractive elements of the vehicle from tractive element speed sensors of the vehicle, determine speed references for the tractive elements to perform autonomous driving operations where the speed references indicate speeds at which each of the tractive elements should rotate to accommodate the autonomous driving operations, and control at least one of a driveline or a brake system of the vehicle to selectively alter the current speeds of the tractive elements of the vehicle based on the current speeds and the speed references to accommodate the autonomous driving operations.

A control system includes one or more processing circuits comprising one or more memory devices coupled to one or more processors. The one or more memory devices are configured to store instructions thereon that, when executed by the one or more processors, cause the one or more processors to acquire speed data regarding current speeds of tractive elements of the vehicle from tractive element speed sensors of the vehicle, determine speed references for the tractive elements to perform autonomous driving operations where the speed references indicate speeds at which each of the tractive elements should rotate to accommodate the autonomous driving operations, and control at least one of a driveline or a brake system of the vehicle to selectively alter the current speeds of the tractive elements of the vehicle based on the current speeds and the speed references to accommodate the autonomous driving operations.

A heavy-duty vehicle includes a chassis, a wheel supporting the chassis, a drive system, a service brake, a drive system controller, and a service brake controller. The drive system includes a motor associated with the wheel. The motor is configured to propel the wheel and to apply a dynamic brake torque to the wheel. The service brake is associated with the wheel and configured to apply a service brake torque to the wheel. The drive system controller controls operation of the motor. The drive system controller selectively modulates the dynamic brake torque to the wheel based on traction conditions. The service brake controller controls operation of the service brake. The service brake controller may selectively modulate the service brake torque to the wheel based on the traction conditions. Modulation of the dynamic brake torque may be disabled during modulation of the service brake torque.

A heavy-duty vehicle includes a chassis, a wheel supporting the chassis, a drive system, a service brake, a drive system controller, and a service brake controller. The drive system includes a motor associated with the wheel. The motor is configured to propel the wheel and to apply a dynamic brake torque to the wheel. The service brake is associated with the wheel and configured to apply a service brake torque to the wheel. The drive system controller controls operation of the motor. The drive system controller selectively modulates the dynamic brake torque to the wheel based on traction conditions. The service brake controller controls operation of the service brake. The service brake controller may selectively modulate the service brake torque to the wheel based on the traction conditions. Modulation of the dynamic brake torque may be disabled during modulation of the service brake torque.

A regenerative torque control unit is configured to reduce a regenerative torque and increase a rising gradient of the regenerative torque at a start of regeneration when a road surface friction coefficient acquired by a road surface friction coefficient acquisition unit is low as compared to when the road surface friction coefficient is high. Thus, it is possible to suppress occurrence of a slip on a low μ road, and it is less likely to provide a feeling of strangeness from a change between a low μ road and a high μ road.

A regenerative torque control unit is configured to reduce a regenerative torque and increase a rising gradient of the regenerative torque at a start of regeneration when a road surface friction coefficient acquired by a road surface friction coefficient acquisition unit is low as compared to when the road surface friction coefficient is high. Thus, it is possible to suppress occurrence of a slip on a low μ road, and it is less likely to provide a feeling of strangeness from a change between a low μ road and a high μ road.

A method is provided for scheduling regenerative braking torque, comprising: sensing a position of an accelerator pedal; generating a torque request value in response to the sensed accelerator pedal position; determining a speed of operation of a motor/generator; determining a torque limit in response to the torque request value and the determined speed of the motor/generator; generating a regenerative braking command in response to the torque limit; and outputting the regenerative braking command to the motor/generator.