Method and system for controlling a vehicle by determining a location of an optimum perceived yaw center

A method of determining a location of an optimum perceived yaw center of a vehicle comprising:

• sensing a plurality of dynamic state parameters of the vehicle;
• providing a plurality of dynamic state inputs which are representative of the dynamic state parameters to a controller in the vehicle that is adapted to execute a plurality of control loops;
• each dynamic state parameter indicative of a dynamic state of the vehicle;
• determining an operation mode of the vehicle as one of a transient mode or a limit handling mode at each dynamic state;
• determining a location of an optimum perceived yaw center based on a first approach when the vehicle is determined to be in the transient mode and determining the location of the optimum perceived yaw center based on a second approach when the vehicle is determined to be in the limit handling mode;
• storing the information related to the location of the optimum perceived yaw center as input to a vehicle controller;
• and
• controlling the vehicle in response to the location of the optimum perceived yaw center as an input to the controller.

A system of controlling a vehicle, comprising:

• a sensor system having a plurality of sensors for sensing dynamic state inputs, the dynamic state inputs indicative of a dynamic state of the vehicle;
• a controller adapted to execute a plurality of control loops and receive the plurality of the dynamic state inputs during its operation to determine an operating mode;
• the controller having a processor further adapted to estimate a location of an optimum perceived yaw center of the vehicle corresponding to a selected estimation technique, such estimation technique being selected based upon the determined operating mode of the vehicle;
• and
• an actuator system that is adapted to communicate with the controller to provide control of the dynamic state of the vehicle in response to the location of the optimum perceived yaw center.