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Torque Hole Filling (THF) is a model based approach for controlling the automatic transmission clutches and input torque during a part-pedal upshift or zero-pedal downshift. A desired transmission output torque is first calculated and then the clutches and input torque are controlled to achieve that output torque. This is a system design approach with drivability as one of the direct design objectives. This paper presents the control design and implementation of Torque Hole Filling. First, the paper introduces the topic, defines the terms, and explains the basic operation and intended result. Next, it describes how it works with one instance of implementation and its corresponding dynamics equations, for both torque transfer and ratio change phases. Lastly but most importantly, it covers the various robustness considerations for real-world applications.

In the current Ford Pro-Trailer Backup Assist (TBA) system, trailer hitch angle is determined utilizing the reverse camera of the vehicle. In addition to being sensitive to environmental factors such as lighting conditions and occlusion, the vision-based approach is difficult to be applied to gooseneck or fifth wheel trailers. In this paper, a yaw rate based hitch angle observer is proposed as an alternative sensing solution for TBA. Based on the kinematic model of the vehicle-trailer, an instantaneous hitch angle is first derived by utilizing vehicle yaw rate, trailer yaw rate, vehicle velocity and vehicle/trailer parameters provided by the TBA system. Due to signal errors and parameter uncertainties, this instantaneous hitch angle may be noisy, especially at lower vehicle speed.