公开(公告)号：US11987252B2

公开(公告)日：2024-05-21

申请号：US17447192

申请日：2021-09-08

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Naser Mehrabi ,  Saurabh Kapoor ,  Seyedeh Asal Nahidi ,  SeyedAlireza Kasaiezadeh Mahabadi ,  James H Holbrook ,  Hualin Tan ,  Bakhtiar B Litkouhi

IPC: B62D15/02 ,  B60W40/101

CPC classification number: B60W40/101 ,  B62D15/021 ,  B60W2510/207 ,  B60W2520/263

Abstract: Systems and methods for determining whether a vehicle is in an understeer or oversteer situation. The system includes a controller circuit coupled to an IMU and an EPS, and programmed to: calculate, for a steered first axle, an axle-based pneumatic trail for using IMU measurements and EPS signals and estimate a saturation level as a function of a distance between the axle-based pneumatic trail and zero. The system estimates, for an unsteered second axle, an axle lateral force curve with respect to a slip angle of the second axle, and a saturation level as a function of when the axle lateral force curve with respect to the slip angle transitions from positive values to negative values. The saturation level of the first axle and the second axle are integrated. The system determines that the vehicle is in an understeer or oversteer situation as a function of the integrated saturation levels.