US 12,115,974 B2
Data fusion-centric method and system for vehicle motion control
Reza Hajiloo, Waterloo (CA); Ehsan Asadi, North York (CA); Seyedeh Asal Nahidi, North York (CA); SeyedAlireza Kasaiezadeh Mahabadi, Novi, MI (US); Gianmarc Coppola, Richmond Hill (CA); and Bakhtiar B. Litkouhi, Washington, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on May 25, 2022, as Appl. No. 17/824,196.
Prior Publication US 2023/0406287 A1, Dec. 21, 2023
Int. Cl. B60W 30/02 (2012.01); B60W 50/00 (2006.01)
CPC B60W 30/02 (2013.01) [B60W 50/00 (2013.01); B60W 2520/12 (2013.01); B60W 2520/125 (2013.01); B60W 2520/14 (2013.01); B60W 2520/20 (2013.01); B60W 2556/35 (2020.02)] 16 Claims
OG exemplary drawing
 
1. A method for vehicle motion control, comprising:
receiving sensor data from a plurality of sensors of a vehicle;
monitoring a vehicle response of the vehicle using the sensor data, wherein the vehicle response is represented by a plurality of vehicle-response signals;
fusing the plurality of vehicle-response signals to obtain at least one fused signal;
determining whether to activate a vehicle stability control of the vehicle based on the at least one fused signal;
commanding the vehicle to activate the vehicle stability control in response to determining to activate the vehicle stability control of the vehicle based on the at least one fused signal; and
wherein the plurality of vehicle-response signals includes a first rear tires sideslip instability index, a second rear tires sideslip instability index, a body stability index, a maximum stable yaw rate adjustment, a rear axle saturation index, and a rear wheel stability index, the first rear tires sideslip instability index is based on a lateral velocity of the vehicle, the second rear tires sideslip instability index is based on a lateral vehicle acceleration of the vehicle, and fusing the plurality of vehicle-response signals includes determining that a reliability of at least one of the first rear tires sideslip instability index, the second rear tires sideslip instability index, and the body stability index is equal to or greater than a first reliability threshold and determining to activate the vehicle stability control of the vehicle in response to determining that the reliability of at least one of the first rear tires sideslip index, the second rear tires sideslip instability index, and the body stability index is equal to or greater than the first reliability threshold.