Emergency motion control for vehicle using steering and torque vectoring
US11801866B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 29, 2021 |
| Grant date | Oct 31, 2023 |
| Priority date | — |
| Expiry date | Sep 29, 2041 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2720/406
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A method includes identifying a desired path for an ego vehicle. The method also includes determining how to apply steering control and torque vectoring control to cause the ego vehicle to follow the desired path. The determination is based on actuator delays associated with the steering control and the torque vectoring control and one or more limits of the ego vehicle. The method further includes applying at least one of the steering control and the torque vectoring control to create lateral movement of the ego vehicle during travel. Determining how to apply the steering control and the torque vectoring control may include using a state-space model that incorporates first-order time delays associated with the steering control and the torque vectoring control and using a linear quadratic regulator to determine how to control the ego vehicle based on the state-space model and the one or more limits of the ego vehicle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.