SYSTEMS AND METHODS FOR ELECTRIC BRAKE FORCE ESTIMATION TOLERANT TO DRIVETRAIN STICTION

The present disclosure provides systems and methods for stiction tolerant brake force estimation. In various embodiments, a method for stiction tolerant brake force estimation may comprise receiving, by a controller, a first motor state at a first time (Step 502), calculating, by the controller, a first uncompensated brake force estimate based upon the first motor state (Step 504), calculating, by the controller, a first linear speed based upon the first motor state (Step 506), and calculating, by the controller, a first stiction compensated brake force estimate based upon at least one of the first linear speed and the first uncompensated brake force estimate (Step 508).