A vehicle includes an engine. The vehicle includes a controller configured to start a timer having a duration defined by a charge limit of a traction battery and during which the engine braking is maintained and reduce a predetermined rate of change speed limit of the engine is reduced. The starting of the timer is responsive to application of an accelerator pedal during engine braking. The controller is further configured to increase the predetermined rate of change speed limit such that engine braking is predicted based on the limit of the battery, responsive to application of an accelerator pedal during engine braking.

A method of controlling a hybrid vehicle includes steps of determining a first torque, the first torque being a currently required torque, determining a second torque to be generated at a near-future time, or a predicted acceleration at the near-future time, determining a predicted speed at the near-future time based on a current speed and the second torque or the predicted acceleration, determining when it is determined that one of engine start and shift conditions is satisfied at a current time based on at least one of the first torque and the current speed, whether the remaining one of the engine start shift conditions is satisfied at the near-future time, and controlling an event corresponding to the satisfied condition at the current time is delayed or an event corresponding to the satisfied condition at the near-future time is advanced when the remaining one condition is satisfied.

A manager includes one or more processors. The one or more processors are configured to receive a plurality of first kinematic plans from a plurality of electronic control units in each of which is implemented an advanced driver assistance system application function, receive a second kinematic plan following at least one of the first kinematic plans, arbitrate the first kinematic plans, calculate one or more motion requests based on an arbitration result, and output the one or more motion requests to one or more actuator systems.

A method and system for blending between torque maps of a source propulsion of a vehicle. The method and system are particularly applicable to automatic selection of an alternative torque map in response to a change of vehicle operating condition, for example, a change of terrain. Blending may substantially avoid a step change in response of the source of propulsion as accelerator position is changed.

In one embodiment, driving statistics of an autonomous vehicle are collected. The driving statistics include driving commands, speeds, and changes of speeds in response to the driving commands at different points in time represented by one or more command cycles. Command delay candidates for the autonomous vehicle are determined, each of the command delay candidates represented by one or more command cycles. For each of the command delay candidates, a percentage is calculated for driving commands that resulted in a response of the autonomous vehicle conforming to the driving commands associated with the command delay candidate. One of the command delay candidates having the highest percentage of conformity is selected as the command delay for the autonomous vehicle. The command delay is utilized to plan and control subsequent operations of the autonomous vehicle.

Systems and methods are provided for controlling an autonomous vehicle. A method includes using a lateral controller system for determining a vehicle's curvature. A longitudinal controller system is used for determining desired vehicle acceleration. The longitudinal controller system uses a control loop with respect to a velocity error and a feedforward term. Commands are generated based on the output of the lateral controller system and the longitudinal controller system.

In one embodiment, driving statistics of an autonomous vehicle are collected. The driving statistics include driving commands, speeds, and changes of speeds in response to the driving commands at different points in time represented by one or more command cycles. Command delay candidates for the autonomous vehicle are determined, each of the command delay candidates represented by one or more command cycles. For each of the command delay candidates, a percentage is calculated for driving commands that resulted in a response of the autonomous vehicle conforming to the driving commands associated with the command delay candidate. One of the command delay candidates having the highest percentage of conformity is selected as the command delay for the autonomous vehicle. The command delay is utilized to plan and control subsequent operations of the autonomous vehicle.

An apparatus for reducing vibrations of a two-cylinder engine for a hybrid electric vehicle includes a reference signal generator for generating a first reference signal and a first reference phase, a speed calculator for calculating a speed of the motor based on the position of the motor, a vibration extractor for extracting a first vibration signal based on the speed of the motor, a variable filter, a filter coefficient updater, a phase calculator, a phase shift compensator, a synchronization signal generator for generating a first synchronization signal synchronized with the first vibration signal based on a first reference phase transferred from the reference signal generator, the second phase difference transferred from the phase calculator and the first compensation value transferred from the phase shift compensator, an inverse phase signal generator, and a torque generator for generating a final command torque based on the first inverse phase signal.

On simultaneous shifts in which shift control of virtual gear positions overlaps shift control of mechanical gear positions, an electronic control unit is configured to delay output of a shift command on the virtual gear position such that shifts of the virtual gear position and the mechanical gear position are performed in synchronization. Therefore, the virtual gear position and the mechanical gear position are shifted in synchronization, irrespective of a difference between the shift response times, and the feeling of strangeness given to the driver due to shift shock, or the like, is suppressed.

A power machine can include a traction lock system to stop movement of the power machine. The traction lock system can include a controller configured to receive a brake input from an operator. In response to receiving the brake input, the controller can temporarily command a target (e.g., reduced) speed of the engine before engaging the brake.