Through-the-road (TTR) hybrid designs using control strategies such as an equivalent consumption minimization strategy (ECMS) or an adaptive ECMS are implemented at the supplemental torque delivering electrically-powered drive axle (or axles) in a manner that follows operational parameters or computationally estimates states of the primary drivetrain and/or fuel-fed engine, but does not itself participate in control of the fuel-fed engine or primary drivetrain. BSFC type data particular to the paired-with fuel-fed engine allows an ECMS implementation (or other similar control strategy) to adapt to efficiency curves for the particular fuel-fed engine and to improve overall efficiencies of the TTR hybrid configuration.

A motor torque control method for a motor-driven vehicle is carried out when a vehicle reduces its speed to a low speed or is in a stopped state, gear backlash and torsion of a drivetrain are minimized, and thus impact on the drivetrain which may occur during starting or restarting of a vehicle is minimized. The motor control method includes determining whether vehicle speed is in a speed reducing state less than a set vehicle speed or in a stopped state; determining a required torque command, an anti-jerk torque, and an additional drivetrain arrangement torque for removing drivetrain backlash based on vehicle operation state information when the speed reducing state or the stopped state is determined; and determining a motor torque command by using the required torque command, the anti-jerk torque, and the drivetrain arrangement torque.

The present invention is a method for determining an optimal speed of a first vehicle preceded by a second vehicle. Position, speed and acceleration of the second vehicle are measured in order to determine a trajectory thereof, and a dynamic model of the first vehicle is constructed. The optimal speed is then determined by minimizing the energy consumption of the vehicle by use of the dynamic model by minimization being constrained by the trajectory of the second vehicle.

A system and to a method executed in a vehicle control unit for controlling wheel slip of a vehicle, wherein the vehicle comprises at least two wheels driven by at least primary actuator via an open differential. The primary actuator is controlled to rotate at a speed resulting in a slip λ.sub.em of the primary actuator. A signed wheel slip limit λ.sub.lim is determined by adding a configurable value to the slip λ.sub.em of the primary actuator, such that λ.sub.lim>λ.sub.em. The at least two wheels are controlled to rotate at wheel speeds resulting in respective wheel slips λ.sub.l, λ.sub.r below the signed wheel slip limit λ.sub.lim, wherein each one of λ.sub.l, λ.sub.r and λ.sub.em are signed numerical values.

Aspects of the subject technology relate to systems and methods for adaptively controlling acceleration of a vehicle employing one pedal driving functionality. A full release of an accelerator pedal of a vehicle is detected while the vehicle travels at a first non-zero speed according to a default accelerator pedal map. When the full release of the accelerator pedal is detected, the vehicle decelerates, and the first accelerator pedal map is switched to an adaptive accelerator pedal map. While the vehicle decelerates, the adaptive accelerator pedal map is adjusted according to reduction of a speed of the vehicle. When a depression of the accelerator pedal to reaccelerate the vehicle pedal is detected while the vehicle decelerates and before the speed of the vehicle reaches zero, the vehicle is controlled to reaccelerate the vehicle according to the adjusted adaptive accelerator pedal map without further decelerating the vehicle.

Methods for planning a trajectory for an autonomous vehicle are disclosed. A vehicle motion planning system will determine a reference curve that represents a path via which the vehicle may travel. The system will detect an actor that is moving in the environment. The system will segment the reference curve according to time intervals. For each of the time intervals, the system will identify a bounding geometry for the actor, predict a lateral offset distance between the reference curve and the actor, and use the predicted lateral offset distance to determine whether to alter a planned trajectory for the autonomous vehicle.

A data map is modeled to generate a modeled data map, the data map including a calibration to control vehicle operation over various weather conditions encountered by a vehicle, the modeled data map characterizing data elements of the data map according to a mathematical model. The modeled data map is sent to the vehicle to expand into at least a portion of the data map to control the vehicle operation.

Methods and systems are provided for adjusting driver demand wheel torque of a vehicle. The driver demand wheel torque may be adjusted as a function of a minimum wheel torque. The minimum wheel torque may be determined according to a plurality of torques that may be evaluated in three different phases.

Disclosed is a method for controlling the speed of a vehicle, the method comprising: determining a speed limit; determining an offset value based on (i) the speed limit, and (ii) a speed map, the speed map comprising a plurality of entries, each entry associating one of the offset values with a respective speed limit; and setting the speed of the vehicle according to the speed limit and the determined offset value.

A vehicle control data generation method includes causing processing circuitry to execute an obtaining process that obtains a state of a vehicle and a specifying variable, an operating process that operates an electronic device, a reward calculating process that provides a greater reward when a characteristic of the vehicle meets a standard than when the characteristic does not meet the standard, and an updating process that updates relationship defining data. The update map outputs the updated relationship defining data. The reward calculating process includes a changing process that changes the reward, provided when the characteristic of the vehicle is a predetermined characteristic, such that the reward in a case where torque generated by an internal combustion engine is used to generate the propelling force of the vehicle differs from the reward in a case where the torque is not used to generate the propelling force.