Adaptive Brake Torque Estimation for Wear Compensation
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Solution Overview
Problem
Autonomous vehicles face challenges in maintaining consistent braking performance due to variations in specific torque caused by long-term wear and the use of aftermarket brake hardware, which can be affected by factors like temperature, humidity, and environmental conditions.
Innovation Solution
A control system that includes a sensor system, a brake pressure module, and a torque estimation module to determine and adapt to the specific torque of the brake system by measuring brake pressure, vehicle mass, wheel radius, and deceleration, allowing the vehicle to operate based on estimated specific torque and learn adjustments over time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If OEM brake hardware is used in non-worn condition, then specific torque is consistent and predictable, but the system cannot adapt to long-term wear and aftermarket hardware variations
Solution Approach 1:
The system continuously monitors actual brake deceleration performance and compares it against expected values based on brake pressure commands. This feedback loop enables the control system to detect deviations caused by wear or aftermarket hardware and automatically adjust brake pressure commands to compensate, maintaining reliable braking performance despite hardware changes
Solution Approach 2:
The brake control system transitions from using fixed, static specific torque values to dynamically adapting specific torque characteristics based on real-time performance monitoring. The system continuously updates its understanding of the actual brake system behavior, enabling it to accommodate wear and aftermarket hardware variations while maintaining consistent braking performance
2Adaptability or versatility
If brake hardware is worn or replaced with aftermarket components, then the system becomes more versatile in terms of hardware options, but specific torque varies by more than 20% from OEM specifications
Solution Approach 1:
The system measures actual deceleration resulting from brake applications and uses this information to continuously refine its specific torque model. This feedback mechanism allows the system to maintain torque accuracy regardless of whether OEM or aftermarket hardware is installed, or how much wear has occurred, by automatically adapting to the actual hardware characteristics
Solution Approach 2:
The system changes the specific torque parameter dynamically based on monitored performance rather than relying on fixed manufacturer specifications. By continuously updating specific torque values based on actual deceleration measurements, the system maintains precision even when hardware varies significantly from original specifications
3Reliability
If brake pressure is increased to compensate for torque variation, then deceleration performance is maintained, but energy consumption and brake system stress increase
Solution Approach 1:
The system dynamically adjusts brake pressure based on real-time specific torque measurements rather than using fixed, conservative pressure values. This enables the system to use only the necessary amount of brake pressure to achieve the desired deceleration, avoiding excessive energy consumption while maintaining reliable performance
Solution Approach 2:
The system changes brake pressure commands based on updated specific torque parameters learned from actual performance. By using accurate, adaptive specific torque values, the system can calculate the precise pressure needed for desired deceleration, minimizing energy consumption while maintaining performance reliability
Data Source
AI summary
Systems and methods are provided for controlling a vehicle using a specific torque of a brake system. In one embodiment, a method of using a specific torque of a brake system for a vehicle includes: determining a brake pressure of the brake system during a braking operation; determining a deceleration of the vehicle during the braking operation; determining a vehicle mass and a wheel radius; estimating a specific torque of the brake system based on the brake pressure and the deceleration; and operating the vehicle based on the specific torque.