Method and system for controlling vehicle operation

Patent metadata

Field	Value
Publication number	US-11872989-B2
Application number	US-202017126784-A
Country	US
Kind code	B2
Filing date	Dec 18, 2020
Priority date	Dec 18, 2020
Publication date	Jan 16, 2024
Grant date	Jan 16, 2024

Abstract

The concepts described herein relate to a calculation of desired future longitudinal horizons related to torque or acceleration, and desired future lateral horizons related to yaw rate and lateral velocity, and their use in response to driver-selectable modes. In the longitudinal direction, driver inputs of pedal and brake position as well as drivability metrics are used to calculate the desired future torque trajectory. In the lateral direction, the front and rear steering angles may be used with a bicycle model to derive the trajectories. The trajectories are used in a vehicle motion controller that uses weighting to tradeoff competing requests and deliver performance that is consistent with a selected driver mode, such as a tour mode, a sport mode, an off-road mode, a trailering mode, etc.

First claim

What is claimed is:

1. A method for operating a vehicle including a propulsion system, the method comprising:
receiving, via a controller, vehicle operating parameters and input commands, including receiving a vehicle yaw rate, receiving a vehicle longitudinal speed, and receiving an operator command for vehicle steering, wherein receiving the operator command for vehicle steering includes receiving a front wheel steering angle and a rear wheel steering angle;
receiving, via the controller, a driver-selectable mode;
determining, via the controller, a desired future trajectory using the front wheel steering angle and the rear wheel steering angle with a dual-track bicycle model in which the input commands and the vehicle operating parameters are control variables;
determining a desired future longitudinal torque horizon based upon the vehicle operating parameters and the input commands;
determining a desired future yaw rate horizon based upon the vehicle operating parameters and the input commands, including based upon the vehicle yaw rate, the vehicle longitudinal speed, and the operator command for vehicle steering;
determining a desired future lateral speed horizon based upon the vehicle operating parameters and the input command;
determining weighting factors for the desired future longitudinal torque horizon, the desired future yaw rate horizon, and the desired future lateral speed horizon based upon the driver-selectable mode; and
controlling, via the controller, operation of the propulsion system based upon the determined desired future trajectory, the desired future longitudinal torque horizon, the desired future yaw rate horizon, the desired future lateral speed horizon, and the weighting factors.

2. The method of claim 1 , wherein receiving, via the controller, vehicle operating parameters and input commands comprises receiving a vehicle speed, and receiving an operator command for one of vehicle acceleration or vehicle deceleration; and
wherein determining the desired future longitudinal torque horizon based upon the vehicle operating parameters and the input commands comprises determining the desired future longitudinal torque horizon based upon the vehicle speed and the operator command for one of vehicle acceleration or vehicle deceleration.

3. The method of claim 1 , wherein receiving, via the controller, vehicle operating parameters and input commands comprises receiving a vehicle lateral speed, receiving a vehicle longitudinal speed, and receiving an operator command for vehicle steering; and
wherein determining the desired future lateral speed horizon based upon the vehicle operating parameters and the input commands comprises determining the desired future lateral speed horizon based upon the vehicle lateral speed, the vehicle longitudinal speed, and the operator command for vehicle steering.

4. The method of claim 1 , further comprising determining the weighting factors for tracking the desired future longitudinal torque horizon, the desired future yaw rate horizon, and the desired future lateral speed horizon based upon the driver-selectable mode and the vehicle operating parameters.

5. The method of claim 1 , wherein controlling, via the controller, operation of the propulsion system based upon the desired future longitudinal torque horizon, the desired future yaw rate horizon, the desired future lateral speed horizon, and the weighting factors comprises controlling operation of the propulsion system to minimize a difference between the desired future longitudinal torque horizon and an operator command for one of vehicle acceleration or vehicle deceleration, and minimize a difference between the desired future yaw rate horizon and a predicted yaw rate, and a desired future lateral velocity horizon and a predicted lateral velocity.

6. The method of claim 1 , wherein receiving, via the controller, vehicle operating parameters and input commands comprises receiving a vehicle speed, and receiving an input command from an Advanced Driver Assistance System (ADAS) for one of vehicle acceleration or vehicle deceleration; and
wherein determining the desired future longitudinal torque horizon based upon the vehicle operating parameters and the input commands comprises determining the desired future longitudinal torque horizon based upon the vehicle speed and the input command from the ADAS for one of vehicle acceleration or vehicle deceleration.

7. A method for operating a vehicle including a propulsion system, the method comprising:
receiving, via a controller, vehicle operating parameters and input commands, including receiving a vehicle yaw rate, receiving a vehicle longitudinal speed, and receiving an operator command for vehicle steering, wherein receiving the operator command for vehicle steering includes receiving a front wheel steering angle and a rear wheel steering angle
receiving, via the controller, a driver-selectable mode;
determining, via the controller, a desired future trajectory using the front wheel steering angle and the rear wheel steering angle with a dual-track bicycle model in which the input commands and the vehicle operating parameters are control variables;
determining a desired future longitudinal acceleration horizon based upon the vehicle operating parameters and the input commands;
determining a desired future yaw rate horizon based upon the vehicle operating parameters and the input commands, including based upon the vehicle yaw rate, the vehicle longitudinal speed, and the operator command for vehicle steering;
determining a desired future lateral speed horizon based upon the vehicle operating parameters and the input commands;
determining weighting factors for the desired future longitudinal acceleration horizon, the desired future yaw rate horizon, and the desired future lateral speed horizon based upon the driver-selectable mode; and
controlling, via the controller, operation of the propulsion system based upon the determined desired future trajectory, the desired future longitudinal acceleration horizon, the desired future yaw rate horizon, the desired future lateral speed horizon, and the weighting factors.

8. The method of claim 7 , wherein receiving, via the controller, vehicle operating parameters and input commands comprises receiving a vehicle speed, and receiving an operator command for one of vehicle acceleration or vehicle deceleration; and
wherein determining the desired future longitudinal acceleration horizon based upon the vehicle operating parameters and the input commands comprises determining the desired future longitudinal acceleration horizon based upon the vehicle speed and the operator command for one of vehicle acceleration or vehicle deceleration.

9. The method of claim 7 , wherein receiving, via the controller, vehicle operating parameters and input commands comprises receiving a vehicle lateral speed, receiving a vehicle longitudinal speed, and receiving an operator command for vehicle steering; and
wherein determining the desired future lateral speed horizon based upon the vehicle operating parameters and the input commands comprises determining the desired future lateral speed horizon based upon the vehicle lateral speed, the vehicle longitudinal speed, and the operator command for vehicle steering.

10. The method of claim 7 , further comprising determining the weighting factors for tracking the desired future longitudinal acceleration horizon, the desired future yaw rate horizon, and the desired future lateral speed horizon based upon the driver-selectable mode and the vehicle operating parameters.

11. The method of claim 7 , wherein controlling, via the controller, operation of the propulsion system based u

Assignees

• Gm Global Tech Operations Llc

Inventors

• Otanez Paul G
• Hu Yiran
• Tan Hualin
• Baibak Daniel L
• Long Ruixing

Classifications

• B60W30/182 Primary

  Selecting between different operative modes, e.g. comfort and performance modes · CPC title

• B60W10/04 Primary

  including control of propulsion units · CPC title

• B60W10/18

  including control of braking systems · CPC title

• B60W10/20

  including control of steering systems · CPC title

• B60W30/12

  Lane keeping · CPC title