US 11,679,804 B2
Limiting system for constraining the commanded steering angle of a steering system
Avshalom Suissa, Ganei Tikva (IL); and Audrey Devin Porter, Hazel Park, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Jun. 1, 2021, as Appl. No. 17/335,538.
Prior Publication US 2022/0379955 A1, Dec. 1, 2022
Int. Cl. B62D 6/00 (2006.01)
CPC B62D 6/002 (2013.01) 20 Claims
OG exemplary drawing
 
1. A limiting system constraining a commanded steering angle for a vehicle including an electric power steering (EPS) system, the limiting system comprising:
a controller in electronic communication with at least one other system of the vehicle, wherein the controller executes instructions to:
receive a plurality of trajectory planning inputs that are each expressed as an array including a plurality of values, wherein the plurality of trajectory planning inputs includes a trajectory velocity array, a trajectory acceleration array, and a trajectory curvature array;
determine a corresponding ideal rate of change of the commanded steering angle for each curvature value that is part of the trajectory curvature array based on the trajectory planning inputs;
determine a maximum rate of change allowed by the EPS system for each trajectory velocity value that is part of the trajectory velocity array; and
determine a maximum rate of steering angle change based on the corresponding ideal rate of change of the commanded steering angle and the maximum rate change allowed by the EPS system, wherein the maximum rate of steering angle change limits the commanded steering angle.