US 12,214,793 B2
Controlling motion of a vehicle
Kruno Hrvatinic, Zagreb (HR); Sandor Iles, Zagreb (HR); Ajinkya Krishnakumar, Zagreb (HR); Jadranko Matusko, Zagreb (HR); Bojan Spahija, Zagreb (HR); and Marko Svec, Sveta Nedjelja (HR)
Assigned to Rimac Technology LLC, Sveta Nedelja (HR)
Filed by Rimac Technology LLC, Sveta Nedelja (HR)
Filed on Jul. 5, 2022, as Appl. No. 17/857,805.
Claims priority of application No. 21183752 (EP), filed on Jul. 5, 2021.
Prior Publication US 2023/0001935 A1, Jan. 5, 2023
Int. Cl. B60W 50/00 (2006.01); B60W 40/114 (2012.01); B60W 30/18 (2012.01)
CPC B60W 50/0097 (2013.01) [B60W 40/114 (2013.01); B60W 30/18172 (2013.01); B60W 2050/0028 (2013.01); B60W 2520/10 (2013.01); B60W 2520/12 (2013.01); B60W 2520/14 (2013.01); B60W 2520/28 (2013.01); B60W 2540/10 (2013.01); B60W 2540/12 (2013.01); B60W 2720/14 (2013.01); B60W 2720/30 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A method for controlling motion of a vehicle, the method comprising:
obtaining input information on a vector related to a velocity of said vehicle;
computing repeatably a future trajectory of said vehicle based on said input information and trial torques to be applied to at least one wheel of said vehicle for optimizing said future trajectory in view of a target vehicle motion, thereby obtaining target trial torques; and
applying the obtained target trial torques to the at least one wheel for controlling the motion of said vehicle,
wherein:
the vector related to the velocity of said vehicle comprises at least two of: a transversal velocity of said vehicle, a longitudinal velocity of said vehicle, a yaw rate of said vehicle, and a ratio of the transversal velocity of said vehicle and the longitudinal velocity of said vehicle or any derivative or integrated quantity of the above quantities;
said input information further comprises information on a motion target of said vehicle, wherein the motion target of said vehicle is an input provided by a driver;
said input information further comprises respective angular velocities of all four wheels of the vehicle as well as a yaw rate of said vehicle;
optimizing said future trajectory includes controlling said yaw rate of said vehicle; and
the trial torques to be applied to at least one wheel of said vehicle are calculated by comparing a computed future trajectory with a target trajectory, and determining whether the computed future trajectory is close to a target trajectory.