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    Methods and systems for vehicle lateral force control
    1.
    发明授权
    Methods and systems for vehicle lateral force control 有权

    公开(公告)号：US10266202B2

    公开(公告)日：2019-04-23

    申请号：US15486086

    申请日：2017-04-12

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Seyedalireza Kasaiezadeh Mahabadi ,  Bakhtiar B. Litkouhi ,  Nikolai K. Moshchuk ,  Shih-Ken Chen

    IPC: B62D6/00 ,  B62D5/04

    Abstract: Methods and system are provided for controlling a vehicle. The methods and systems read sensors and estimate pneumatic trail for a tire of the vehicle based on the sensor readings. The methods and systems determine presence or absence of a tire lateral saturation condition based on a comparison of the estimated pneumatic trail for the tire of the vehicle with a pneumatic trail threshold indicative of a tire lateral saturation condition. When the tire lateral saturation condition is present, the methods and systems determine a control value and use the control value as an input to a vehicle control module. The vehicle control module is responsive to the tire lateral saturation condition based on the control value.

    Preview lateral control for automated driving
    3.
    发明授权
    Preview lateral control for automated driving 有权

    公开(公告)号：US09731755B1

    公开(公告)日：2017-08-15

    申请号：US15044851

    申请日：2016-02-16

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Nikolai K. Moshchuk ,  Shih-Ken Chen ,  Bakhtiar B. Litkouhi

    IPC: B62D6/00 ,  G05D1/02 ,  G05D1/00

    CPC classification number: B62D6/00 ,  B62D1/28 ,  B62D6/04 ,  B62D15/025 ,  G05D1/0088 ,  G05D1/021

    Abstract: A method for providing vehicle lateral steering control. The method includes providing a mathematical model of vehicle dynamics that includes a state variable, a steering control variable and a future road disturbance factor that defines the upcoming road curvature, banks and slopes of the roadway. The method determines an optimal steering control signal that includes a feedback portion and a feed-forward portion, where the feed-forward portion includes the road disturbance factor. The method determines a state variable and a control variable for the current roadway curvature, bank and slope for stationary motion of the vehicle for constant speed, yaw rate and lateral velocity. The method then introduces a new state variable and control variable for dynamic vehicle motion for variable speed, yaw rate and lateral velocity that is a difference between the state and control variables for predicted future times and the steady state variables.

    Collision avoidance control integrated with electric power steering controller and rear steer
    4.
    发明授权
    Collision avoidance control integrated with electric power steering controller and rear steer 有权
    与电动助力转向控制器和后转向器集成的碰撞避免控制

    公开(公告)号：US09573623B2

    公开(公告)日：2017-02-21

    申请号：US14592432

    申请日：2015-01-08

    Applicant: GM Global Technology Operations LLC

    Inventor： Nikolai K. Moshchuk ,  Shih-Ken Chen ,  Chad T. Zagorski

    IPC: B62D15/02 ,  B62D6/00 ,  B62D7/15

    CPC classification number: B62D15/0265 ,  B62D6/002 ,  B62D7/159

    Abstract: A method of providing automatic collision avoidance in a vehicle with a front wheel electric power steering (EPS) system and rear wheel active rear steering (ARS) system and an automatic collision avoidance system are described. The method includes generating a vehicle math model including the control variables, designing a steering control goal as a criterion to determine the control variables, and implementing a model predictive control to solve the steering control goal and determine the control variables. The method also includes providing the control variables to the EPS system and the ARS system to respectively control a front actuator associated with front wheels and a rear actuator associated with rear wheels.

    Abstract translation: 描述了一种在具有前轮电动助力转向（EPS）系统和后轮主动后转向（ARS）系统和自动碰撞避免系统的车辆中提供自动碰撞避免的方法。 该方法包括生成包含控制变量的车辆数学模型，设计转向控制目标作为判断控制变量的标准，实现模型预测控制，解决转向控制目标，确定控制变量。 该方法还包括向EPS系统和ARS系统提供控制变量，以分别控制与前轮相关联的前致动器和与后轮相关联的后致动器。

    DETERMINATION OF ROLL ANGLE AND BANK ANGLE WITH SUSPENSION DISPLACEMENT DATA
    7.
    发明申请
    DETERMINATION OF ROLL ANGLE AND BANK ANGLE WITH SUSPENSION DISPLACEMENT DATA 审中-公开

    公开(公告)号：US20190143970A1

    公开(公告)日：2019-05-16

    申请号：US15809303

    申请日：2017-11-10

    Applicant: GM Global Technology Operations LLC

    Inventor： Shih-Ken Chen ,  Valery Pylypchuk ,  Bakhtiar B. Litkouhi

    IPC: B60W30/14 ,  B60W40/076 ,  B60G17/019 ,  B60W50/14

    Abstract: A device includes a body operatively connected to a plurality of wheels, with the plurality of wheels being positioned relative to a banked surface defining a bank angle (β). A suspension system includes at least one suspension sensor configured to provide suspension displacement data. A controller is in communication with the at least one suspension sensor and has a processor and tangible, non-transitory memory on which is recorded instructions. The controller is configured to obtain the suspension displacement data and determine a roll angle (φ) based at least partially on the suspension displacement data. The bank angle (β) is determined based at least partially on the roll angle (φ), a yaw rate (r), a longitudinal velocity (Vx) and a plurality of predetermined parameters. Operation of the device is controlled based partly on at least one of the roll angle (φ) and the bank angle (β).

    Systems and methods for the real-time determination of tire normal forces
    8.
    发明授权
    Systems and methods for the real-time determination of tire normal forces 有权

    公开(公告)号：US10207559B2

    公开(公告)日：2019-02-19

    申请号：US15623846

    申请日：2017-06-15

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Shih-Ken Chen ,  Valery Pylypchuk

    IPC: B60G17/016 ,  B60G15/06 ,  B60G17/019

    Abstract: A device includes a plurality of tires, a suspension system operatively connected to the plurality of tires, at least one suspension sensor operatively connected to the suspension system and configured to provide suspension data (S), and a controller operatively connected to the at least one suspension sensor and having a processor for executing a method for determining respective tire normal forces (Fzi(t), i=1 . . . n) for one or more of the plurality of tires, based at least partially on the suspension data (S), the respective tire normal forces being operative to adjust operation of the wheeled device. Execution of the instructions by the processor causes the controller to determine a transformation matrix (Ts) based on a plurality of predefined parameters. The controller is configured to obtain the respective tire normal forces (Fzi(t), i==1 . . . n) via the following equation: {tilde over (F)}z=[TS+τS(p)]{tilde over (S)}+Tuũ.

    COLLISION AVOIDANCE CONTROL INTEGRATED WITH ELECTRIC POWER STEERING CONTROLLER AND REAR STEER
    10.
    发明申请
    COLLISION AVOIDANCE CONTROL INTEGRATED WITH ELECTRIC POWER STEERING CONTROLLER AND REAR STEER 有权
    与电动转向控制器和后转器集成的碰撞避免控制

    公开(公告)号：US20160200360A1

    公开(公告)日：2016-07-14

    申请号：US14592432

    申请日：2015-01-08

    Applicant: GM Global Technology Operations LLC

    Inventor： Nikolai K. Moshchuk ,  Shih-Ken Chen ,  Chad T. Zagorski

    IPC: B62D15/02 ,  B62D6/00 ,  B62D7/15

    CPC classification number: B62D15/0265 ,  B62D6/002 ,  B62D7/159

    Abstract: A method of providing automatic collision avoidance in a vehicle with a front wheel electric power steering (EPS) system and rear wheel active rear steering (ARS) system and an automatic collision avoidance system are described. The method includes generating a vehicle math model including the control variables, designing a steering control goal as a criterion to determine the control variables, and implementing a model predictive control to solve the steering control goal and determine the control variables. The method also includes providing the control variables to the EPS system and the ARS system to respectively control a front actuator associated with front wheels and a rear actuator associated with rear wheels.

    Abstract translation: 描述了一种在具有前轮电动助力转向（EPS）系统和后轮主动后转向（ARS）系统和自动碰撞避免系统的车辆中提供自动碰撞避免的方法。 该方法包括生成包含控制变量的车辆数学模型，设计转向控制目标作为判断控制变量的标准，实现模型预测控制，解决转向控制目标，确定控制变量。 该方法还包括向EPS系统和ARS系统提供控制变量，以分别控制与前轮相关联的前致动器和与后轮相关联的后致动器。

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