Combined slip-based driver command interpreter

Patent metadata

Field	Value
Publication number	US-10407034-B2
Application number	US-201715614172-A
Country	US
Kind code	B2
Filing date	Jun 5, 2017
Priority date	Jun 5, 2017
Publication date	Sep 10, 2019
Grant date	Sep 10, 2019

Abstract

A combined slip based driver command interpreter for a vehicle is provided which may be communicatively coupled to a steering wheel angle sensor, an acceleration pedal position sensor and a brake pedal position sensor, the combined slip based driver command interpreter including, but not limited to a memory configured to store a non-linear combined lateral slip model and a non-linear combined longitudinal slip model, and a processor, the processor configured to determine a driver's intended vehicle lateral velocity and a driver's intended vehicle yaw rate based upon the angle of the steering wheel, the position of the acceleration pedal, the position of the brake pedal, a longitudinal velocity of the vehicle, the non-linear combined lateral slip model and the non-linear combined longitudinal slip model.

First claim

What is claimed is:

1. A vehicle, comprising:
a plurality of tires;
a steering wheel configured to steer the vehicle;
a steering wheel angle sensor configured to output an angle of the steering wheel;
an acceleration pedal configured to control a fuel supply rate of the vehicle;
an acceleration pedal position sensor configured to output a position of the acceleration pedal;
a brake pedal configured to control braking of the vehicle;
a brake pedal position sensor configured to output a position of the brake pedal; and
a combined slip based driver command interpreter communicatively coupled to the steering wheel angle sensor, the acceleration pedal position sensor and the brake pedal position sensor, the combined slip based driver command interpreter comprising:
a memory configured to store a non-linear combined lateral slip model and a non-linear combined longitudinal slip model; and
a processor, the processor configured to determine a driver's intended vehicle lateral velocity and a driver's intended vehicle yaw rate based upon the angle of the steering wheel, the position of the acceleration pedal, the position of the brake pedal, a longitudinal velocity of the vehicle, the non-linear combined lateral slip model and the non-linear combined longitudinal slip model;
wherein the processor is further configured to:
determine an intended lateral force on each tire of the vehicle and an intended longitudinal force on each tire of the vehicle based upon the non-linear combined lateral slip model and the non-linear combined longitudinal slip model;
determine the driver's intended vehicle lateral velocity and the driver's intended vehicle yaw rate based upon the determined intended lateral force on each tire of the vehicle, the determined intended longitudinal force on each tire of the vehicle, and a steering angle for each tire of the vehicle; and
execute a control command for an electronic stability control system to take over command of the vehicle by automatically activating steering, braking, or acceleration of the vehicle based on the determined driver's intended lateral velocity and the determined driver's intended vehicle yaw rate.

2. The vehicle of claim 1 , the processor is further configured to determine the intended lateral force on each tire of the vehicle and the intended longitudinal force on each tire of the vehicle based upon the non-linear combined lateral slip model and the non-linear combined longitudinal slip model.

3. The vehicle of claim 2 , wherein the processor utilizes the non-linear combined lateral slip model to convert the angle of the steering wheel, the position of the acceleration pedal and the position of the brake pedal into the intended lateral force on each tire.

4. The vehicle of claim 3 , wherein the processor utilizes the non-linear combined longitudinal slip model to convert the angle of the steering wheel, the position of the acceleration pedal and the position of the brake pedal into the intended longitudinal force on each tire.

5. The vehicle of claim 4 , where the processor is configured to determine the intended vehicle lateral velocity according to:

V
.

y

=

1
m

⁢

∑

i
=
1

4

⁢

(

f
xi

⁢

sin
⁡

(

δ
si

)

+

f
yi

⁢

cos
⁡

(

δ
si

)

)

-

ψ
⁢

⁢

V
x

where Vy is the intended vehicle lateral velocity V x , is the vehicle longitudinal speed, i corresponds to each tire of the vehicle, f xi represents the determined intended longitudinal force at each tire i, f yi represents the determined intended lateral force of each tire i, and δ si is the steering angle for each tire.

6. The vehicle of claim 5 , where the processor is configured to determine the intended vehicle yaw rate according to:

I
z

⁢

ψ
.

=

a
⁢

∑

i
=
1

,
2

⁢

(

f
xi

⁢

sin
⁡

(

δ
si

)

+

f
yi

⁢

cos
⁡

(

δ
si

Assignees

• Gm Global Tech Operations Llc

Inventors

• Mahabadi Seyedalireza Kasaiezadeh
• Holbrook James H
• Tan Hualin
• Hashemi Ehsan
• Litkouhi Bakhtiar B

Classifications

• B60W2050/0062

  Adapting control system settings · CPC title

• B60W2050/0031

  Mathematical model of the vehicle · CPC title

• B60T2270/86

  Optimizing braking by using ESP vehicle or tyre model · CPC title

• B60T2270/304

  during driver brake actuation · CPC title

• B60W50/0098

  Details of control systems ensuring comfort, safety or stability not otherwise provided for · CPC title