Architecture and methodology of limit handling intended driver command interpreter to achieve maximum lateral grip

A system for operating a vehicle, comprising:

• a processor configured to:
• receive a driver input at the vehicle;
• determine a current lateral force on a tire of the vehicle and a current longitudinal force on the tire for the driver input;
• comparing the current lateral force on the tire to a lateral force capacity of the tire in order to select a performance mode of the vehicle;
• using a least squares method to determine a desired yaw rate and lateral velocity for the vehicle for which a maximum yaw moment of the vehicle is equal to zero, wherein the maximum yaw moment produces a maximum lateral grip on the tire for the current longitudinal force on the tire, wherein determining the desired yaw rate and the lateral velocity includes determining the desired yaw rate and the desired lateral velocity at which front and rear tires of the vehicle saturate at the same time;
• and
• adjust the lateral velocity of the vehicle to operate the vehicle at the desired yaw rate and lateral velocity.

A vehicle, comprising:

• a processor configured to:
• receive a driver input at the vehicle;
• determine a current lateral force on a tire of the vehicle and a current longitudinal force on the tire for the driver input;
• comparing the current lateral force on the tire to a lateral force capacity of the tire in order to select a performance mode of the vehicle;
• using a least squares method to determine a desired yaw rate and lateral velocity for the vehicle for which a maximum yaw moment of the vehicle is equal to zero, wherein the maximum yaw moment produces a maximum lateral grip on the tire for the current longitudinal force on the tire, wherein determining the desired yaw rate and the lateral velocity includes determining the desired yaw rate and the desired lateral velocity at which front and rear tires of the vehicle saturate at the same time;
• and
• adjust the lateral velocity of the vehicle to operate the vehicle at the desired yaw rate and lateral velocity.