US 12,134,394 B2
Vehicle dynamics emulation
Avinash Balachandran, Sunnyvale, CA (US); and Yan Ming Jonathan Goh, Palo Alto, CA (US)
Assigned to Toyota Research Institute, Inc., Los Altos, CA (US)
Filed by Toyota Research Institute, Inc., Los Altos, CA (US)
Filed on Aug. 10, 2020, as Appl. No. 16/989,330.
Prior Publication US 2022/0041176 A1, Feb. 10, 2022
Int. Cl. B60W 50/08 (2020.01); B60W 10/04 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 10/22 (2006.01); B62D 7/14 (2006.01)
CPC B60W 50/087 (2013.01) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 10/22 (2013.01); B62D 7/14 (2013.01); B60W 2520/10 (2013.01); B60W 2520/12 (2013.01); B60W 2520/14 (2013.01); B60W 2520/20 (2013.01); B60W 2530/10 (2013.01); B60W 2530/20 (2013.01); B60W 2530/201 (2020.02); B60W 2540/10 (2013.01); B60W 2540/18 (2013.01); B60W 2552/40 (2020.02); B60W 2555/20 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01); B60W 2710/22 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An emulation system for emulating vehicle dynamics in a vehicle having a plurality of wheels and equipped with all-wheel steering, comprising:
one or more processors; and
a memory, communicably connected to the one or more processors, storing:
an estimation module including instructions that when executed by the one or more processors cause the one or more processors to receive vehicle state data and to determine a capability estimate that indicates one or more estimated maximum achievable states for the vehicle;
a simulation module including instructions that when executed by the one or more processors cause the one or more processors to execute a simulated model that receives the capability estimate to define operational boundaries of a simulated operation of the vehicle, driver inputs, detected by one or more sensors and including at least a steering input and a throttle input, and emulation settings that indicate one or more vehicle parameters, simulate the vehicle operating based on the driver inputs and the emulation settings, and output one or more simulated states of the vehicle based on the simulated operation of the vehicle; and
a controller module including instructions that when executed by the one or more processors cause the one or more processors to determine actuation commands for each wheel of the vehicle to cause the vehicle to emulate the one or more simulated states,
wherein the actuation commands include at least wheel angle commands and torque commands,
wherein:
the one or more estimated maximum achievable states include at least one of a maximum steady state yaw rate or a maximum turn radius, and
the operational boundaries are with respect to at least one of a relationship between yaw rate and velocity or a relationship between sideslip and yaw rate.