CPC B60W 40/109 (2013.01) [B60W 10/20 (2013.01); B60W 40/068 (2013.01); B60W 40/114 (2013.01); B60W 2520/125 (2013.01); B60W 2520/14 (2013.01); B60W 2520/263 (2013.01); B60W 2552/40 (2020.02); B60W 2720/125 (2013.01); B60W 2720/14 (2013.01)] | 20 Claims |
1. A motion control system in a vehicle, the motion control system comprising a controller, the controller configured to:
calculate a correction factor using one of three different sets of operations when the vehicle is performing a limit handling maneuver, wherein the correction factor is calculated using a first set of operations when the vehicle is operating in an understeer state, calculated using a second set of operations when the vehicle is operating in an oversteer state, and calculated using a third set of operations when the vehicle is operating in a neutral steer state;
wherein the first set of operations comprises calculating the correction factor (μe) based on:
wherein Fyf comprises a lateral force applied to a front axle, and
comprises a maximum lateral force that a front left tire and a front right tire together can generate;
adjust a desired lateral acceleration and a desired yaw rate by applying the correction factor to account for a reduced level of friction experienced by the vehicle when traveling on a non-ideal friction surface when the vehicle is performing a limit handling maneuver;
calculate optimal control actions based on the adjusted desired lateral acceleration and adjusted desired yaw rate; and
apply the optimal control actions with vehicle actuators during vehicle operations.
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