US 12,275,436 B2
Tow-vehicle driving methods and systems for automated driving
Mohammadali Shahriari, Markham (CA); Ashraf Abualfellat, Grand Blanc, MI (US); Reza Zarringhalam, Whitby (CA); Mehdi Abroshan, Waterloo (CA); and Michael B. Peppard, Plymouth, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Aug. 24, 2022, as Appl. No. 17/821,829.
Prior Publication US 2024/0067220 A1, Feb. 29, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 40/06 (2012.01)
CPC B60W 60/0025 (2020.02) [B60W 40/06 (2013.01); B60W 2520/125 (2013.01); B60W 2530/203 (2020.02); B60W 2552/20 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method for a vehicle towing a trailer, comprising:
operating, by a controller via an actuator system, the vehicle by controlling at least one of speed and steering angle of the vehicle;
monitoring, by at least one of a map system and a sensor system, a roadway on which the vehicle is travelling for a road profile of the roadway located ahead of the vehicle over a prediction horizon;
determining a projected trajectory for navigating the vehicle through the road profile over the prediction horizon and considering environmental conditions;
computing, by a processor and before travel over the road profile, whether the projected trajectory through the road profile will result in exceeding a vehicle dynamic threshold, including determining whether an estimated coefficient of understeer is reaching approximately a design threshold of the vehicle and the trailer together, and when the estimated coefficient of understeer is at approximately the design threshold, computing a sway speed limit of the vehicle, and when the estimated coefficient of understeer is not at approximately the design threshold, computing a jackknifing speed limit;
determining, when the projected trajectory will result in exceeding the vehicle dynamic threshold through the road profile as indicated by at least one of the computed sway speed limit and the jackknifing speed limit being exceeded, a control action to prevent instability and optimize driver experience; and
operating, by the actuator system, the vehicle through the road profile using the control action.