公开(公告)号：US20230126666A1

公开(公告)日：2023-04-27

申请号：US17511611

申请日：2021-10-27

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Kevin A. O'Dea ,  Jacob R. Kilver ,  Avshalom Suissa

IPC: B60W30/02 ,  B62D5/04 ,  B62D15/02 ,  B60W50/06 ,  B60W40/101 ,  B60W50/00

Abstract: A method of maintaining stability of a motor vehicle having a first axle, a second axle, and a steering actuator configured to steer the first axle includes determining localization and heading of the vehicle. The method also includes determining a current side-slip angle of the second axle and setting a maximum side-slip angle of the second axle using the friction coefficient at the vehicle and road surface interface. The method additionally includes predicting when the maximum side-slip angle would be exceeded using the localization, heading, and determined current side-slip angle as inputs to a linear computational model. The method also includes updating the model using the prediction of when the maximum side-slip angle would be exceeded to determine impending instability of the vehicle. Furthermore, the method includes correcting for the impending instability using the updated model and the maximum side-slip angle via modifying a steering angle of the first axle.

公开(公告)号：US11713036B2

公开(公告)日：2023-08-01

申请号：US17511611

申请日：2021-10-27

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Kevin A. O'Dea ,  Jacob R. Kilver ,  Avshalom Suissa

IPC: B60W30/02 ,  B62D5/04 ,  B62D15/02 ,  B60W50/06 ,  B60W40/101 ,  B60W50/00

CPC classification number: B60W30/02 ,  B60W40/101 ,  B60W50/0097 ,  B60W50/06 ,  B62D5/0457 ,  B62D15/021 ,  B60W2510/20 ,  B60W2520/10 ,  B60W2520/12 ,  B60W2520/14 ,  B60W2556/60

Abstract: A method of maintaining stability of a motor vehicle having a first axle, a second axle, and a steering actuator configured to steer the first axle includes determining localization and heading of the vehicle. The method also includes determining a current side-slip angle of the second axle and setting a maximum side-slip angle of the second axle using the friction coefficient at the vehicle and road surface interface. The method additionally includes predicting when the maximum side-slip angle would be exceeded using the localization, heading, and determined current side-slip angle as inputs to a linear computational model. The method also includes updating the model using the prediction of when the maximum side-slip angle would be exceeded to determine impending instability of the vehicle. Furthermore, the method includes correcting for the impending instability using the updated model and the maximum side-slip angle via modifying a steering angle of the first axle.