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US 12,054,154 B2Granted
Systems and methods for skid recovery using front wheel slip
AssigneeToyota Research Institute, Inc.
InventorsYan Ming Jonathan Goh, John Subosits, Michael Thompson, Alexander R. Green, Avinash Balachandran, Hanh Nguyen
Life of this patent
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Abstract
System, methods, and other embodiments described herein relate to skid recovery for a vehicle. In one embodiment, a method for controlling a vehicle during skid includes obtaining data indicating a skid condition of the vehicle, determining whether the skid condition can be corrected by counter-steering, and executing an intervention when the skid condition cannot be corrected by counter-steering, the intervention including inducing slippage in front wheels of the vehicle to change a direction and/or magnitude of lateral forces at the front wheels.
Claims21
A skid recovery system for a vehicle, comprising:
- a processor;
- and
- a memory, communicably connected to the processor, storing:
- a detection module including instructions that, when executed by the processor, cause the processor to determine whether a skid condition of the vehicle, indicated by sensor data generated by a sensor, is correctable by counter-steering;
- and
- an intervention module including instructions that, when executed by the processor, cause the processor to:
- determine parameters for an intervention by determining a subset of achievable sliding force vector angles that improve skid recovery, wherein a sliding force vector angle is an arctangent of a ratio of a first difference divided by a second difference, the first difference is a first product subtracted from a lateral component of a vehicle body travel velocity, the second difference is a second product subtracted from a longitudinal component of the vehicle body travel velocity, the first product is a radius of a tire multiplied by a wheel speed multiplied by a sine of a steering angle, and the second product is the radius of the tire multiplied by the wheel speed multiplied by a cosine of the steering angle;
- and
- execute the intervention in response to a determination that the skid condition is not correctable by counter-steering, the intervention including inducing slippage in front wheels of the vehicle to change a direction and/or magnitude of lateral forces at the front wheels, wherein the direction of the lateral forces at the front wheels is a function of the sliding force vector angle.
6 more elements
A method for controlling a vehicle during a skid, comprising:
- obtaining data indicating a skid condition of the vehicle;
- determining whether the skid condition is correctable by counter-steering;
- determining parameters for an intervention by determining a subset of achievable sliding force vector angles that improve skid recovery, wherein a sliding force vector angle is an arctangent of a ratio of a first difference divided by a second difference, the first difference is a first product subtracted from a lateral component of a vehicle body travel velocity, the second difference is a second product subtracted from a longitudinal component of the vehicle body travel velocity, the first product is a radius of a tire multiplied by a wheel speed multiplied by a sine of a steering angle, and the second product is the radius of the tire multiplied by the wheel speed multiplied by a cosine of the steering angle;
- and
- executing the intervention in response to a determination that the skid condition is not correctable by counter-steering, the intervention including inducing slippage in front wheels of the vehicle to change a direction and/or magnitude of lateral forces at the front wheels, wherein the direction of the lateral forces at the front wheels is a function of the sliding force vector angle.
2 more elements
A non-transitory computer-readable medium for controlling a vehicle during a skid, including instructions that, when executed by one or more processors, cause the one or more processors to:
- obtain data indicating a skid condition of the vehicle;
- determine whether the skid condition is correctable by counter-steering;
- determine parameters for an intervention by determining a subset of achievable sliding force vector angles that improve skid recovery, wherein a sliding force vector angle is an arctangent of a ratio of a first difference divided by a second, difference, the first difference is a first product subtracted from a lateral component of a vehicle body travel velocity, the second difference is a second product subtracted from a longitudinal component of the vehicle body travel velocity, the first product is a radius of a tire multiplied by a wheel speed multiplied by a sine of a steering angle, and the second product is the radius of the tire multiplied by the wheel speed multiplied by a cosine of the steering angle;
- and
- execute the intervention in response to a determination that the skid condition is not correctable by counter-steering, the intervention including inducing slippage in front wheels of the vehicle to change a direction and/or magnitude of lateral forces at the front wheels, wherein the direction of the lateral forces at the front wheels is a function of the sliding force vector angle.
2 more elements
A system, comprising:
- a processor;
- and
- a memory storing a module including instructions that cause the processor to:
- determine that a vehicle skid condition is uncorrectable by counter-steering;
- determine, for skid recovery, a sliding force vector angle that is an arctangent of a ratio of a first difference divided by a second difference, the first difference being a first product subtracted from a lateral component of a vehicle body travel velocity, the second difference being a second product subtracted from a longitudinal component of the vehicle body travel velocity, the first product being a tire radius multiplied by a wheel speed multiplied by a sine of a steering angle, and the second product being the tire radius multiplied by the wheel speed multiplied by a cosine of the steering angle;
- and
- execute, for skid recovery, an intervention that is a function of the sliding force vector angle.
4 more elements
Dependencies are inferred from the claim text.