DE-102025145318-A1 - MANUAL TORQUE VECTORIZATION USING STEERING WHEEL-MOUNTED INPUT DEVICES

Abstract

A vehicle includes a controller configured to calculate initial torques for a variety of the vehicle's wheels and to receive manual input that directs one or more torque differentials to apply those initial torques. The controller adjusts the initial torques according to the one or more torque differentials to obtain output torques and drives the variety of wheels according to those output torques. Manual input can be received from steering wheel-mounted input devices, such as two input wheels. The controller can adjust the left-to-right torque distribution between the vehicle's right and left wheels according to the manual input.

Inventors

• Mason Verbridge

Assignees

• RIVIAN IP HOLDINGS, LLC

Dates

Publication Date

20260513

Application Date

20251104

Priority Date

20251010

Claims (20)

1. Vehicle control system comprising: at least one processor; and a memory coupled to at least one processor, which stores instructions which, when executed by the at least one processor, cause the at least one processor to: calculate the initial torques for a plurality of road wheels of a vehicle; receive a manual input instructing one or more torque differentials for the initial torques; adjust the initial torques according to the one or more torque differentials to obtain output torques; and drive the plurality of road wheels according to the output torques.
2. Vehicle control according to Claim 1 , wherein the at least one processor is configured to receive manual input from one or more input devices mounted on a steering wheel of the vehicle.
3. Vehicle control according to Claim 2 , wherein the one or more input devices include two input devices.
4. Vehicle control according to Claim 3 , wherein the two input devices include two input wheels.
5. Vehicle control according to Claim 1 , wherein the plurality of road wheels includes one or more left wheels and one or more right wheels, wherein the instructions further cause the at least one processor to adjust a torque distribution between the one or more left wheels and the one or more right wheels according to the one or more torque differentials.
6. Vehicle control according to Claim 5 , wherein the at least one processor is configured to drive the multiple road wheels by controlling the current to a plurality of motors, the plurality of motors including one or more left motors coupled to the one or more left wheels, and one or more right motors coupled to the one or more right wheels.
7. Vehicle control according to Claim 1 , wherein the at least one processor is configured to calculate the initial torques according to at least one of a steering wheel position, an accelerator pedal position and a brake pedal position.
8. Vehicle control according to Claim 1 , wherein the at least one processor is configured to calculate the initial torques according to at least one output from a stability control algorithm and an output from a traction control algorithm.
9. Vehicle control according to Claim 1 , wherein at least one processor is configured to calculate the initial torques according to a self-driving algorithm.
10. Vehicle comprising: a plurality of road wheels; a steering wheel; one or more manual input devices mounted on the steering wheel; and a control system configured to: calculate the initial torques for the plurality of road wheels; receive manual input from one or more manual input devices that instruct one or more torque differentials for the initial torques; adjust the initial torques according to the one or more torque differentials to obtain output torques; and drive the plurality of road wheels according to the output torques.
11. Vehicle control according to Claim 10 , wherein the one or more manual input devices include two manual input devices.
12. Vehicle after Claim 11 , wherein the two manual input devices include two input wheels.
13. Vehicle after Claim 10 , wherein: the plurality of road wheels includes one or more left road wheels and one or more right road wheels; and the control is further configured to adapt a torque distribution between the one or more left road wheels and the one or more right road wheels according to the one or more torque differentials.
14. Vehicle after Claim 13 , further comprising a plurality of motors coupled to the plurality of road wheels, wherein the control is configured to drive the plurality of road wheels by controlling the current to the plurality of motors, wherein the plurality of motors includes one or more left-hand motors, which are coupled to the one or more left road wheels, and one or more right motors coupled to the one or more right road wheels.
15. Vehicle after Claim 10 , further comprising an accelerator pedal and a brake pedal, wherein the control is configured to calculate the initial torques according to at least one of a steering wheel position, an accelerator pedal position and a brake pedal position.
16. Vehicle after Claim 10 , wherein the control is configured to calculate the initial torques according to at least one output from a stability control algorithm and an output from a traction control algorithm.
17. Vehicle after Claim 10 , where the control system is configured to calculate the initial torques according to a self-driving algorithm.
18. Non-transient, computer-readable medium that stores executable code which, when executed by the vehicle control unit, causes the vehicle control unit to: Calculate the initial torques for a plurality of road wheels of a vehicle; Receive a manual input instructing one or more torque differentials to apply the initial torques; Adjust the initial torques according to the one or more torque differentials to obtain output torques; and Drive the plurality of road wheels according to the output torques.
19. Non-transitory, computer-readable medium according to Claim 18 , wherein the executable code, when executed by the vehicle control unit, further causes the vehicle control unit to receive manual input from two input wheels.
20. Non-transitory, computer-readable medium according to Claim 18 , wherein the plurality of road wheels includes one or more left road wheels and one or more right road wheels, wherein the executable code, when executed by the vehicle control system, further causes the vehicle control system to adjust a torque distribution between the one or more left road wheels and the one or more right road wheels according to the one or more torque differentials.

Description

RELATED REGISTRATION This application claims priority over the preliminary US application with serial number 63/718,512 , submitted on November 8, 2024 and entitled “MANUAL TORQUE VECTORING USING STEERING WHEEL-MOUNTED INPUT DEVICES”, which is hereby incorporated herein by reference in its entirety. INTRODUCTION The present disclosure relates to performing torque vectorization using steering wheel-mounted input devices. SUMMARY In one aspect, a vehicle control unit is configured to calculate initial torques for a variety of a vehicle's wheels and receive manual input that instructs one or more torque differentials to apply these initial torques. The vehicle control unit adjusts the initial torques according to the one or more torque differentials to obtain output torques and drives the variety of wheels according to these output torques. In some embodiments, the vehicle control system is configured to receive manual input from one or more input devices mounted on the vehicle's steering wheel. In some embodiments, the one or more input devices include two input devices. In some embodiments, the two input devices include two input wheels. In some embodiments, the plurality of road wheels includes one or more left wheels and one or more right wheels, wherein the vehicle control is further configured to adapt a torque distribution between the one or more left wheels and the one or more right wheels according to the one or more torque differentials. In some embodiments, the vehicle control is further configured to drive the multiple road wheels by controlling the current to a plurality of motors, the plurality of motors including one or more left motors coupled to the one or more left wheels and one or more right motors coupled to the one or more right wheels. In some embodiments, the vehicle control system is further configured to calculate the initial torques according to at least one position of a steering wheel, a position of an accelerator pedal, and a position of a brake pedal. In some embodiments, the vehicle control system is further configured to calculate the initial torques according to at least one output from a stability control algorithm and an output from a traction control algorithm. In some embodiments, the vehicle control system is further configured to calculate the initial torques according to a self-driving algorithm. In another aspect, a vehicle includes a multitude of road wheels, a steering wheel, and one or more manual input devices mounted on the steering wheel. The vehicle includes a controller configured to calculate initial torques for the multitude of road wheels and to receive manual input from one or more manual input devices, which instruct one or more torque differentials to apply the initial torques. The controller adjusts the initial torques according to the one or more torque differentials to obtain output torques and drives the multitude of road wheels according to the output torques. In some embodiments, the one or more manual input devices include two manual input devices. In some embodiments, the two manual input devices include two input wheels. In some embodiments, the plurality of road wheels includes one or more left road wheels and one or more right road wheels. The control system can further be configured to adjust a torque distribution between the one or more left road wheels and the one or more right road wheels according to the one or more torque differentials. In some embodiments, the vehicle further includes a plurality of motors coupled to the plurality of road wheels, wherein the control is further configured to drive the plurality of road wheels by controlling the current to the plurality of motors, wherein the plurality of motors includes one or more left motors coupled to the one or more left road wheels and one or more right motors coupled to the one or more right road wheels. In some embodiments, the vehicle further includes an accelerator pedal and a brake pedal, the control system being further configured to calculate the initial torques according to at least one position of the steering wheel, an accelerator pedal position, and a brake pedal position. In some embodiments, the control is further configured to calculate the initial torques according to at least one output from a stability control algorithm and an output from a traction control algorithm. In some embodiments, the control system is further configured to calculate the initial torques according to a self-driving algorithm. In another aspect, a non-transitory, computer-readable medium storing executable code, when executed by a vehicle control unit, causes the control unit to calculate initial torques for a multitude of a vehicle's road wheels and receive manual input that instructs one or more torque differentials to apply these initial torques. The initial torques are then adjusted by the torque differential(s) to produce output torques. The multitude of road wheels are driven according to