Automated driving commands interpretation for stability control

A method in a vehicle stability control system to ensure vehicle stability, the method comprising:

• determining if a vehicle is being driven manually or autonomously;
• generating desired current vehicle states when the vehicle is driven manually based on driver steering and acceleration inputs, the current vehicle states comprising a target yaw rate state and a target lateral velocity state;
• generating a desired states vector when the vehicle is driven autonomously using vehicle path planning instructions, the desired states vector comprising current and future desired yaw rate states and current and future desired lateral velocity states;
• generating a first yaw moment control action for current conditions using the desired current vehicle states when the vehicle is driven manually;
• generating a second yaw moment control action for current conditions using the desired states vector when the vehicle is driven autonomously;
• and
• using the first yaw moment control action in the stability control system in the vehicle to ensure vehicle stability when the vehicle is driven manually and using the second yaw moment control action in the stability control system in the vehicle to ensure vehicle stability when the vehicle is driven autonomously.

Non-transitory computer readable media encoded with programming instructions configurable to cause a processor in a vehicle to:

• determine if the vehicle is being driven manually or autonomously;
• generate desired current vehicle states when the vehicle is driven manually based on driver steering and acceleration inputs, the current vehicle states comprising a target yaw rate state and a target lateral velocity state;
• generate a desired states vector when the vehicle is driven autonomously using vehicle path planning instructions, the desired states vector comprising current and future desired yaw rate states and current and future desired lateral velocity states;
• generate a first yaw moment control action for current conditions using the desired current vehicle states when the vehicle is driven manually;
• generate a second yaw moment control action for current conditions using the desired states vector when the vehicle is driven autonomously;
• and
• send the first yaw moment control action to a stability control system in the vehicle to ensure vehicle stability when the vehicle is driven manually and send the second yaw moment control action to the stability control system in the vehicle to ensure vehicle stability when the vehicle is driven autonomously.