Methods and systems are provided for increasing an efficiency of a modular hybrid transmission (MHT) of a hybrid vehicle. In one example, a method for operating an MHT comprises, at one or more control modules, determining an upper torque bound and a lower torque bound of a feedback controller based on a feedforward (FF) engine torque value, the feedback controller controlling a torque of an electric motor of the hybrid vehicle; and constraining operation of the electric motor via the feedback controller based on the upper and lower torque bounds. The electric motor may be controlled by a hybrid powertrain control module of the MHT. The upper and lower torque bounds may be calculated at a powertrain control module of the MHT based on torque converter losses.

Ground vehicle control techniques adapted to reduce energy consumption, braking, shifting, travel distance, travel time, and or the like. The techniques can generate a target speed window and a target vehicle performance plan for controlling operation of a ground vehicle along a current and one or more upcoming segments of a roadway responsive to the dynamic driving environment.

A powertrain system includes a transmission, torque generating device, load coupled to a drive axle, a final drive unit in meshed gear engagement with the output shaft and the drive axle, and a controller. A requested output torque is processed using an open-loop lash state model populated with a capped output torque request table and a lash closure rate estimate table respectively providing a capped torque value and an estimated lash closure rate. Output speed is determined using a plant model, the capped torque value, and the estimated lash closure rate. The powertrain is controlled during the transition using the output speed. A lash angle may be calculated from the closure rate using an integrator logic block. A calibrated lash offset profile may be determined using the lash angle, and a reference speed may be generated using the lash offset profile.

A method of decoupling output torque from input torque during engine speed control of a hybrid powertrain for a vehicle comprises determining, via a controller, a virtual output torque required on an output member of a multi-mode transmission given a virtual input torque commanded on an input member of the multi-mode transmission for engine speed control in a selected mode of the multi-mode transmission such that rotational speed of the output member is unchanged to prevent undesired torque variation at the output member. The controller determines the virtual output torque via a first stored transfer function relating virtual output torque to virtual input torque based on modeled physical dynamics of the vehicle driveline for the selected mode of the multi-mode transmission. A hybrid powertrain includes an engine and a hybrid transmission, and a controller that controls the hybrid transmission according to the method.

In one embodiment, when speed control command (e.g., throttle, brake commands) is issued based on a target speed, a first feedback parameters is determined based on an expected speed and an actual speed of the ADV in response to the speed control command. A second feedback parameter is determined by applying a speed control parameter adjustment (SCPA) model to a set of input parameters that are captured or measured at the point in time. The set of input parameters represents a driving environment of the ADV at the point in time. One or more control parameters of a speed controller of the ADV is adjusted based on the first feedback parameter and the second feedback parameter, where the speed controller is configured to generate and issue speed control commands. Subsequent speed control commands can be generated based on the adjusted speed control parameters of the speed controller.

The control method for the hybrid vehicle includes a rotation speed control torque calculation step of, based on a rotation speed command value for the electric generator and a rotation speed detection value of the electric generator, calculating a torque command value for controlling the rotation speed of the electric generator, and an electric generator control step of controlling the electric generator according to the torque command value. The rotation speed control torque calculation step calculates, using the model matching compensator and based on a value obtained by filtering the rotation speed detection value through the low-pass filter and the rotation speed command value, a basic torque command value that makes a torque response of the electric generator coincide with a preset model response, calculates, using the disturbance observer including the transfer function composed of the inverse system of the control object model patterned after a power transmission system of the electric generator connected to the engine via the gears and a disturbance observer filter, and based on the rotation speed detection value, a disturbance torque that is input into the power transmission system, and calculates the torque command value based on the basic torque command value and the disturbance torque. The relative degree of the disturbance observer filter is set so that the relative degree of the transfer function becomes 1 or more.

A powertrain system includes a transmission, torque generating device, load coupled to a drive axle, a final drive unit in meshed gear engagement with the output shaft and the drive axle, and a controller. A requested output torque is processed using an open-loop lash state model populated with a capped output torque request table and a lash closure rate estimate table respectively providing a capped torque value and an estimated lash closure rate. Output speed is determined using a plant model, the capped torque value, and the estimated lash closure rate. The powertrain is controlled during the transition using the output speed. A lash angle may be calculated from the closure rate using an integrator logic block. A calibrated lash offset profile may be determined using the lash angle, and a reference speed may be generated using the lash offset profile.

Various examples are directed to systems and methods for at least partially controlling a vehicle. A vehicle system may access motion plan data for the vehicle. The vehicle system may generate drivetrain bias data representative of drivetrain effects of the vehicle. The vehicle system may generate a biased throttle command using the motion plan data and the drivetrain bias data and apply the biased throttle command to a propulsion system of the vehicle.

Methods and systems are provided for operating a vehicle driveline where the vehicle driveline does not include a torque converter. In one example, a method comprises controlling a capacity of a clutch configured to transmit torque between an engine and a transmission, and an output of an electric motor positioned in a driveline of the hybrid vehicle during a vehicle launch to emulate a performance of a torque converter positioned in the driveline of the vehicle. In this way, vehicle launch maneuvers may be conducted for vehicles that are equipped with a clutch and an electric motor, such that said launch maneuvers mimic those of a vehicle with a torque converter, which may improve customer satisfaction and improve engine efficiency.

A control method of a hybrid powertrain for a vehicle having an internal combustion engine, an electrical machine connected to a crankshaft of the internal combustion engine via a transmission and a control unit are disclosed. The method includes acquisitioning first data representative of the efficiency of the internal combustion engine, of the electrical machine and of the transmission, acquisitioning second data representative of operating conditions of the vehicle, and processing the data, which includes calculating a distribution of the torque between the internal combustion engine and the electrical machine.