Systems and methods for holistic vehicle control with integrated slip control

Patent metadata

Field	Value
Publication number	US-2017267232-A1
Application number	US-201615070901-A
Country	US
Kind code	A1
Filing date	Mar 15, 2016
Priority date	Mar 15, 2016
Publication date	Sep 21, 2017
Grant date	—

Abstract

Methods and systems are provided for controlling components of a vehicle. In one embodiment, a method includes: generating a model of vehicle dynamics based on vehicle corner information; determining a control output based on the model of vehicle dynamics; and selectively controlling at least one component associated with at least one of an active safety system and a chassis system of the vehicle based on the control output.

First claim

What is claimed is:

1 . A method for controlling components of a vehicle, comprising:
generating a model of vehicle dynamics based on vehicle corner information; determining a control output based on the model of vehicle dynamics; and selectively controlling at least one component associated with at least one of an active safety system and a chassis system of the vehicle based on the control output.

2 . The method of claim 1 , further comprising determining available actuators of at least one of the active safety system and the chassis system and wherein the determining the control output is based on the available actuators.

3 . The method of claim 2 , wherein the determining the available actuators is based on a fault condition associated with at least one actuator.

4 . The method of claim 2 , wherein the determining the available actuator is based on a configuration of the vehicle.

5 . The method of claim 4 , wherein the configuration is a user configuration of the vehicle.

6 . The method of claim 1 , wherein the control output minimizes an error between desired dynamics and actual dynamics.

7 . The method of claim 1 , wherein the corner information includes wheel dynamics.

8 . The method of claim 7 , wherein the wheel dynamics includes tire slip.

9 . The method of claim 1 , wherein the vehicle corner information is associated with one corner of four corners of the vehicle and wherein the selectively controlling at least one component comprises selectively controlling a component associated with the one corner.

10 . The method of claim 9 , wherein the generating the model comprises generating a model of vehicle dynamics based on vehicle corner information for each corner of the vehicle, wherein the determining the control output comprises determining the control output based on the model of vehicle dynamics for each corner of the vehicle, and wherein the selectively controlling comprises selectively controlling at least one component associated with at least one of an active safety system and a chassis system for each corner of the vehicle based on the respective control output.

11 . A system for controlling a component of a vehicle, comprising:
a non-transitory computer readable medium comprising:
a first module that generates, by a processor, a model of vehicle dynamics based on vehicle corner information;
a second module that determines, by a processor, a control output based on the model of vehicle dynamics; and
a third module that selectively controls, by a processor, at least one component associated with at least one of an active safety system and a chassis system of the vehicle based on the control output.

12 . The system of claim 11 , further comprising a fourth module that determines available actuators of at least one of the active safety system and the chassis system and wherein the second module determines the control output based on the available actuators.

13 . The system of claim 12 , wherein the fourth module determines the available actuators based on a fault condition associated with at least one actuator.

14 . The system of claim 12 , wherein the fourth module determines the available actuator based on a configuration of the vehicle.

15 . The system of claim 14 , wherein the configuration is a user configuration of the vehicle.

16 . The system of claim 11 , wherein the control output minimizes an error between desired dynamics and actual dynamics.

17 . The system of claim 11 , wherein the corner information includes wheel dynamics.

18 . The system of claim 17 , wherein the wheel dynamics includes tire slip.

19 . The system of claim 11 , wherein the vehicle corner information is associated with one corner of four corners of the vehicle and wherein the third module selectively controls at least one component associated with the one corner.

20 . The system of claim 19 , wherein the first module generates a model of vehicle dynamics based on vehicle corner information for each corner of the vehicle, wherein the second module determines the control output based on the model of vehicle dynamics for each corner of the vehicle, and wherein the third module selectively controls at least one component associated with at least one of an active safety system and a chassis system for each corner of the vehicle based on the respective control output.

Assignees

• Gm Global Tech Operations Llc

Inventors

• Khajepour Amir
• Mahabadi Seyed Alireza Kasaiezadeh
• Chen Shih-Ken
• Litkouhi Bakhtiar B

Classifications

• B60W30/18172

  Preventing, or responsive to skidding of wheels · CPC title

• B60W2720/26

  Wheel slip · CPC title

• B60W2720/14

  Yaw · CPC title

• B60W2540/18

  Steering angle · CPC title

• B60W50/0098

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