# US 12,005,902 B2 · System and method for situationally optimized turning assistance

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- Number: US 12,005,902 B2
- Document ID: US12005902B2
- Status: Granted
- Kind: B2
- Application number: 17/226,258
- Filed: 2021-04-09
- Published: 2022-10-13
- Granted: 2024-06-11
- Earliest claimed: 2021-04-09
- Assignees: Ford Global Technologies, LLC
- Applicants: Ford Global Technologies, LLC
- Inventors: Brendan Diamond; Keith Weston; Matthew Johnson; Andrew Monticello
- Web page: https://patentgrep.com/patent/US12005902B2

## CPC

- B60L 15/2036: {Electric differentials, e.g. for supporting steering vehicles}
- B60W 30/18145: {Cornering}
- B60L 3/102: {of individual wheels}
- B60L 3/106: {for maintaining or recovering the adhesion of the drive wheels}
- B60L 15/20: for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60W 10/119: including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque between front and rear axle (B60W10/14 takes precedence)
- B60W 30/045: Improving turning performance
- B60W 50/082: {Selecting or switching between different modes of propelling}
- B60L 2220/42: with use of more than one motor
- B60L 2250/00: Driver interactions
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2520/10: Longitudinal speed
- B60W 2540/18: Steering angle
- B60W 2540/215: Selection or confirmation of options
- B60W 2552/40: Coefficient of friction
- B60W 2710/083: Torque
- B60W 2720/26: Wheel slip
- B60W 2720/30: Wheel torque
- B60W 2720/403: between front and rear axle
- B60W 2720/406: between left and right wheel
- B62D 11/003: {Electric or electronic control systems}
- B62D 11/04: by means of separate power sources
- B62D 11/24: Endless track steering specially adapted for vehicles having both steerable wheels and endless track
- Y02T 10/72: Electric energy management in electromobility
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

A vehicle control system for reducing turn radius of a vehicle may include electric motors associated with front and rear wheels of the vehicle. The system may further include a plurality of vehicle sensors to receive information including driving surface type, vehicle speed and handwheel position. The system may also include a controller operably coupled to the electric motors and the sensors to control wheel slip during a turn based on the driving surface type, the vehicle speed and the handwheel position.

## Claims

### Claim 1

A vehicle control system comprising:
electric motors associated with front and rear wheels of the vehicle;
a plurality of vehicle sensors to receive information including driving surface type, vehicle speed and handwheel position;
a controller operably coupled to the electric motors and the sensors to control wheel slip during a turn based on the driving surface type, the vehicle speed and the handwheel position; and
a torque control module operably coupled to the controller and to front wheels of the vehicle and rear wheels of the vehicle,
wherein the vehicle control system further comprises a plurality of operator selectable modes of operation that each define respective different functions,
wherein the torque control module applies different torque values during the turn responsive to operator selection of a corresponding one of the modes of operation and detection of a trigger event, and
wherein the trigger event comprises detecting that a limit of rotation of a handwheel is reached when a current steering wheel angle of the handwheel is equal to a maximum steering wheel angle, and responsive to the detecting the limit of rotation of the handwheel is reached, measuring additional torque placed on the handwheel to apply the different torque values based on the additional torque measured.

### Claim 2 (depends on 1)

The system of claim 1, wherein responsive to control by the controller, the torque control module selectively applies the different torque values to at least an inside one of the rear wheels relative to an outside one of the rear wheels.

### Claim 3 (depends on 2)

The system of claim 2, wherein selectively applying the different torque values comprises applying a negative torque to the inside rear wheel and applying a positive torque to the front wheels and the outside rear wheel during the turn.

### Claim 4 (depends on 3)

The system of claim 3, wherein the negative torque is applied by operating an electric motor associated with the inside rear wheel in a reverse direction.

### Claim 5 (depends on 2)

The system of claim 2, wherein selectively applying the different torque values comprises applying a different torque to each of the front wheels and each of the rear wheels.

### Claim 6 (depends on 1)

The system of claim 1, wherein speed changes associated with the applying the different torque values change nonlinearly with respect to changes in the application of the additional torque to the handwheel.

### Claim 7 (depends on 1)

The system of claim 1, wherein the controller controls wheel slip based on a selected slip table from a plurality of slip tables, the selected slip table defining an amount of slip between an inside wheel and an outside wheel of one or both of the front wheels and the rear wheels.

### Claim 8

A vehicle control system comprising:
electric motors associated with front and rear wheels of the vehicle;
a plurality of vehicle sensors to receive information including driving surface type, vehicle speed and handwheel position; and
a controller operably coupled to the electric motors and the sensors to control wheel slip during a turn based on the driving surface type, the vehicle speed and the handwheel position,
wherein a torque control module is operably coupled to the controller and to the front wheels and rear wheels of the vehicle
wherein the controller controls wheel slip based on a selected slip table from a plurality of slip tables, the selected slip table defining an amount of slip between an inside wheel and an outside wheel of one or both of the front wheels and the rear wheels, and
wherein the selected slip table is chosen based on the driving surface type,
wherein the torque control module applies different torque values during the turn responsive to operator selection of a corresponding one of the modes of operation and detection of a trigger event, and
wherein the trigger event comprises detecting that a limit of rotation of a handwheel is reached when a current steering wheel angle of the handwheel is equal to a maximum steering wheel angle, and responsive to the detecting the limit of rotation of the handwheel is reached, measuring additional torque placed on the handwheel to apply the different torque values based on the additional torque measured.

### Claim 9 (depends on 8)

The system of claim 8, further comprising:
a torque control module operably coupled to the controller and/or to front wheels of the vehicle and rear wheels of the vehicle, the torque control module being operable, responsive to control by the controller, to selectively apply different torque values to at least an inside one of the rear wheels relative to an outside one of the rear wheels,
wherein the controller controls vehicle operation in any of a plurality of operator selectable modes of operation, and
wherein the torque control module applies the different torque values during the turn responsive to operator selection of a corresponding one of the modes of operation and detection of a trigger event.

### Claim 10 (depends on 8)

The system of claim 8, wherein the driving surface type is determined locally at the vehicle based on surface information provided by a surface sensor.

### Claim 11 (depends on 10)

The system of claim 10, wherein the surface sensor is a camera.

### Claim 12 (depends on 8)

The system of claim 8, wherein the driving surface type is determined based on a mode selection made by a driver of the vehicle.

### Claim 13 (depends on 8)

The system of claim 8, wherein the driving surface type is determined based on a location of the vehicle.

### Claim 14

A method of providing automated application of turn radius reduction for a vehicle, the method comprising:
receiving a mode selection selecting a turning radius reduction mode;
receiving steering wheel angle and vehicle speed information to determine if turn radius reduction criteria are met during a turn;
determining a surface type on which the vehicle is operating; and
in response to the turn radius reduction criteria being met, applying a torque differential to at least an inside rear wheel and an outside rear wheel of the vehicle based on a steering wheel angle, vehicle speed information, the surface type and a selected mode of operation,
wherein a torque control module applies different torque values during the turn responsive to operator selection of a corresponding one of the modes of operation and detection of a trigger event, and
wherein the trigger event comprises detecting that a limit of rotation of a handwheel is reached when a current steering wheel angle of the handwheel is equal to a maximum steering wheel angle, and responsive to the detecting the limit of rotation of the handwheel is reached, measuring additional torque placed on the handwheel to apply the different torque values based on the additional torque measured.

### Claim 15 (depends on 14)

The method of claim 14, wherein determining the surface type on which the vehicle is operating comprises determining the surface type locally at the vehicle based on surface information provided by a surface sensor.

### Claim 16 (depends on 14)

The method of claim 14, wherein determining the surface type on which the vehicle is operating comprises determining the surface type based on the mode selection.

### Claim 17 (depends on 14)

The method of claim 14, wherein determining the surface type on which the vehicle is operating comprises determining the surface type based on a location of the vehicle.

### Claim 18 (depends on 14)

The method of claim 14, wherein applying the torque differential further comprises applying the torque differential also to an inside rear wheel relative to an outside rear wheel of the vehicle.

### Claim 19 (depends on 14)

The method of claim 14, wherein applying the torque differential comprises applying a positive torque to the outside rear wheel and applying a negative torque to the inside rear wheel.