US 12,391,224 B2
Driver directional control during brake-to-steer manual driving using model predictive control
Omkar Karve, Farmington Hills, MI (US); Sarin Kodappully, Midland, MI (US); Alexander Jennings, Bath, MI (US); Michael S. Wyciechowski, Grand Blanc, MI (US); Scott T. Sanford, Swartz Creek, MI (US); and Iulian Ungureanu, Oakland Township, MI (US)
Assigned to Steering Solutions IP Holding Corporation, Auburn Hills, MI (US); and Continental Automotive Systems Inc., Auburn Hills, MI (US)
Filed by Steering Solutions IP Holding Corporation, Auburn Hills, MI (US); and Continental Automotive Systems, Inc., Auburn Hills, MI (US)
Filed on Aug. 7, 2023, as Appl. No. 18/366,371.
Prior Publication US 2025/0050850 A1, Feb. 13, 2025
Int. Cl. B60T 8/17 (2006.01); B60T 8/1755 (2006.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); B60W 30/02 (2012.01)
CPC B60T 8/17551 (2013.01) [B60T 8/1706 (2013.01); B60T 8/17552 (2013.01); B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 30/02 (2013.01); B60T 2230/02 (2013.01); B60T 2250/03 (2013.01); B60T 2250/04 (2013.01); B60T 2270/30 (2013.01); B60W 2520/14 (2013.01); B60W 2710/18 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method comprising:
providing a vehicle having roadwheels, a steer-by-wire system having a roadwheel actuator, a handwheel for turning the roadwheels connected to the roadwheel actuator, the handwheel including a handwheel actuator to receive steering input from a driver of the vehicle, an electronic brake system, and an electronic controller having written instructions to convert steering commands from the handwheel actuator to brake force or brake torque commands;
receiving, by the electronic controller, steering commands from the handwheel actuator;
determining, by the electronic controller, an intended yaw or yaw rate of a driver of the vehicle, based on the steering input from the driver to the handwheel actuator, using a model;
comparing, by the electronic controller, the intended yaw or yaw rate with the actual vehicle yaw or yaw rate to determine a yaw error or yaw rate error;
using, by the electronic controller, the determined yaw error or yaw rate error in a model predictive control module to determine the brake pressure to minimize or reduced to zero the yaw error or the yaw rate error;
sending, by the electronic controller, the brake force or brake torque commands to the electronic brake system to apply the determined brake pressure.