{
  "$type": "site.standard.document",
  "coverImage": {
    "$type": "blob",
    "ref": {
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  "description": "A vehicle includes an actuator, a drivetrain configured to receive mechanical power from the actuator, an accelerator pedal position sensor configured to output a driver-demanded torque, and a controller in electric communication with the sensor and the actuator. The controller is programmed to…",
  "path": "/patents/1281981",
  "publishedAt": "2021-01-28T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60K23/0808",
    "Ford Global Technologies, LLC"
  ],
  "textContent": "A vehicle includes an actuator, a drivetrain configured to receive mechanical power from the actuator, an accelerator pedal position sensor configured to output a driver-demanded torque, and a controller in electric communication with the sensor and the actuator. The controller is programmed to receive the driver-demanded torque and output a shaped torque command to mitigate driveline disturbances caused by backlash and shaft compliance.",
  "title": "VEHICLE TORQUE SHAPING"
}