Tusimple, Inc.

Jingxuan Liu

Arda Kurt

Junbo Jing

Haimo Bi

Devices, systems, and methods for predictive anti-lag braking control for autonomous vehicles are described. An example method of controlling a vehicle includes receiving, from a controller, a first plurality of values indicative of a brake wheel torque demand associated with a deceleration profile of the vehicle, deriving, based on the first plurality of values and a steady-state brake model, a second plurality of values indicative of a brake pressure demand, wherein an input to the steady-state brake model comprises the brake pressure demand and at least one previous brake wheel torque demand, and wherein an output of the steady-state brake system comprises a current brake wheel torque demand, generating, based on the second plurality of values and at least the steady-state model, a plurality of brake control commands, and controlling, using the plurality of brake control commands, the air brake system.

Predictive anti-lag braking control for autonomous driving

Devices, systems, and methods for estimating wheel torque in an autonomous vehicle include a method for controlling a vehicle includes using a dual filter framework to generate an updated estimate of a wheel torque, and controlling, based on the updated estimate of the wheel torque, the vehicle. A first filter of the dual filter framework is configured to generate a blended estimate of the wheel torque by combining a first estimate of the wheel torque that is generated based on a set of mechanical torque transfer models of at least a powertrain and a brake of the vehicle and a second estimate of wheel torque that is generated based on an inverted longitudinal dynamic model, and a second non-linear filter of the dual filter framework is configured to generate the updated estimate of a wheel torque and vehicle velocity based on a torque delivery damping process model on vehicle motion.

Growing community of inventors

San Diego, CA, United States of America

Jingxuan Liu