US 12,415,512 B2
Vehicle lateral compensation for path deviation due to environmental forces
Jason Schwegler, Grand Blanc, MI (US); Michael Cottrell, White Lake, MI (US); and Nicholas Mawhinney, Fenton, 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 Feb. 24, 2023, as Appl. No. 18/113,865.
Prior Publication US 2024/0286608 A1, Aug. 29, 2024
Int. Cl. B60W 30/095 (2012.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 50/00 (2006.01)
CPC B60W 30/0956 (2013.01) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 50/0097 (2013.01); B60W 2050/0031 (2013.01); B60W 2552/20 (2020.02); B60W 2555/20 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A computer readable medium comprising:
non-transitory memory operable for machine instructions that are to be executed by a computer, the machine instructions when executed by the computer implement the following functions comprising:
determining a first set of actuation commands;
determining a first set of vehicle acceleration and rotational limits corresponding to the first set of actuation commands;
receiving or measuring forces via at least one of an inertial measurement unit, and a vehicle corner height measured by a vehicle wheel height sensor;
determining measured motion data including orientation of external forces local to a vehicle based on vehicle acceleration, rotation, and geomagnetic from the inertial measurement unit, and relative vehicle corner height from the vehicle wheel height sensor;
determining physical model deviations based on the measured motion data;
determining if measured vehicles dynamics at least one of reach or exceed the first set of vehicle acceleration and rotational limits;
calculating at least one vehicle acceleration limit offset or at least one rotational limit offset based at least on the physical model deviations; and
determining a first set of actuation adjustments based off the at least one vehicle acceleration limit offset or at least one rotational limit offset.