US 11,780,449 B2
System and method to estimate maximum lateral acceleration and yaw rate in limit handling maneuvers in low-friction surfaces
Ehsan Asadi, North York (CA); Seyedeh Asal Nahidi, North York (CA); SeyedAlireza Kasaiezadeh Mahabadi, Novi, MI (US); and Hualin Tan, Novi, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Sep. 27, 2021, as Appl. No. 17/448,907.
Prior Publication US 2023/0105572 A1, Apr. 6, 2023
Int. Cl. B60W 40/109 (2012.01); B60W 40/114 (2012.01); B60W 40/068 (2012.01); B60W 10/20 (2006.01)
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
OG exemplary drawing
 
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:

OG Complex Work Unit Math
wherein Fyf comprises a lateral force applied to a front axle, and

OG Complex Work Unit Math
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.