# US 12,179,781 B2 · Driver command interpreter system determining achievable target vehicle state during steady-state and transient driving conditions > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,179,781 B2 - Document ID: US12179781B2 - Status: Granted - Kind: B2 - Application number: 18/060,755 - Filed: 2022-12-01 - Published: 2024-06-06 - Granted: 2024-12-31 - Earliest claimed: 2022-12-01 - Assignees: GM Global Technology Operations LLC - Applicants: GM Global Technology Operations LLC - Inventors: SeyedAlireza Kasaiezadeh Mahabadi; Hualin Tan; Ruixing Long; Bharath Pattipati; Bo Yu - Web page: https://patentgrep.com/patent/US12179781B2 ## CPC - B60W 50/10: Interpretation of driver requests or demands - B60W 2050/0022: {Gains, weighting coefficients or weighting functions} - B60W 2050/0031: {Mathematical model of the vehicle} - B60W 2050/0033: {Single-track, 2D vehicle model, i.e. two-wheel bicycle model} - B60W 2520/12: Lateral speed - B60W 2520/14: Yaw - B60W 2530/10: Weight - B60W 2530/20: Tyre data - B60W 2530/201: Dimensions of vehicle - B60W 2552/05: Type of road, e.g. motorways, local streets, paved or unpaved roads - B60W 2555/20: Ambient conditions, e.g. wind or rain - 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 ## Abstract A driver command interpreter system for a vehicle includes one or more controllers that execute instructions to receive a plurality of dynamic variables, vehicle configuration information, and driving environment conditions, and determine a target vehicle state during transient driving conditions based on the plurality of dynamic variables from the one or more sensors, the vehicle configuration information, and the driving environment conditions. The one or more controllers build a transient vehicle dynamic model based on the target vehicle state during transient driving conditions, the plurality of dynamic variables, the vehicle configuration information, and the driving environment conditions, and solve for desired zeros corresponding to the target vehicle state during transient conditions. ## Claims ### Claim 1 A driver command interpreter system for a vehicle, the driver command interpreter system comprising: one or more controllers executing instructions to: receive a plurality of dynamic variables that each represent an operating parameter indicative of a dynamic state of the vehicle, vehicle configuration information, and driving environment conditions; determine a target vehicle state during transient driving conditions based on the plurality of dynamic variables, the vehicle configuration information, and the driving environment conditions; build a transient vehicle dynamic model based on the target vehicle state during transient driving conditions, the plurality of dynamic variables, the vehicle configuration information, and the driving environment conditions; solve for desired zeros corresponding to the target vehicle state during transient conditions based on the transient vehicle dynamic model, wherein the desired zeros are shaped to result in the target vehicle state during the transient driving conditions being achieved; and stores the desired zeros in memory, wherein the one or more controllers employ the desired zeros in real-time to determine real-time constraints upon the vehicle during operation. ### Claim 2 (depends on 1) The driver command interpreter system of claim 1, wherein the target vehicle state during transient conditions include a target transient yaw rate and a target transient lateral velocity. ### Claim 3 (depends on 2) The driver command interpreter system of claim 2, wherein the one or more controllers execute instructions to: solve for the desired zero corresponding to a yaw rate transfer function that results in the target transient yaw rate being achieved. ### Claim 4 (depends on 3) The driver command interpreter system of claim 3, wherein the yaw rate transfer function is expressed as: G rd ( s ) = ( s z rd + 1 ) ⁢ ω nd 2 s 2 + 2 ⁢ ξ d ⁢ ω nd ⁢ s + ω nd 2 ⁢ Ω gain wherein s is a Laplace operator, Grd(s) is the yaw rate transfer function, zrd is the desired zero for the yaw rate transfer function Grd(s), ωnd is a desired natural frequency, ξd is a desired damping ratio, and Ωgain is the gain of the yaw rate. ### Claim 5 (depends on 2) The driver command interpreter system of claim 2, wherein the one or more controllers execute instructions to: solve for the desired zero corresponding to a lateral velocity transfer function that results in the target transient lateral velocity being achieved. ### Claim 6 (depends on 5) The driver command interpreter system of claim 5, wherein the target transient lateral velocity is expressed as: G v y ⁢ d ( s ) = ( s z v yd + 1 ) ⁢ ω nd 2 s 2 + 2 ⁢ ξ d ⁢ ω nd ⁢ s + ω nd 2 ⁢ V y ⁢ _ ⁢ gain wherein s is a Laplace operator, Gvyd(s) is the Gvyd(s), ωnd is a desired natural frequency, ξd is a desired damping ratio, zvyd is the desired zero for the lateral velocity transfer function Gvyd(s), and Vy,gain is the gain of the lateral velocity. ### Claim 7 (depends on 2) The driver command interpreter system of claim 2, wherein the target transient yaw rate is calculated based on one or more of the following: a size of the vehicle, a mass of the vehicle, a class of the vehicle, a type of the vehicle, the vehicle configuration information, and an expected response of the vehicle. ### Claim 8 (depends on 2) The driver command interpreter system of claim 2, wherein the target transient lateral velocity is calculated based on one or more of the following: a class of the vehicle, a type of the vehicle, a suspension type of the vehicle, a specific actuator set of the vehicle that is currently being used to execute a driving maneuver, and a perceived yaw center of the vehicle. ### Claim 9 (depends on 1) The driver command interpreter system of claim 1, wherein the transient vehicle dynamic model is based on a two-degree-of-freedom bicycle model. ### Claim 10 (depends on 1) The driver command interpreter system of claim 1, wherein the real-time constraints include one or more of the following: a tire tractive limit, lateral adhesion limits, and actuator bandwidth limits. ### Claim 11 (depends on 1) The driver command interpreter system of claim 1, wherein the vehicle configuration information indicates one or more of the following: a size of the vehicle, a mass of the vehicle, a class of the vehicle, a type of the vehicle, a number of wheels of the vehicle, a number of driven wheels of the vehicle, and number of steered wheels of the vehicle. ### Claim 12 (depends on 1) The driver command interpreter system of claim 1, wherein the driving environment conditions include one or more of the following: type of road, road surface, and weather conditions. ### Claim 13 (depends on 1) The driver command interpreter system of claim 1, wherein the one or more controllers execute instructions to: determine the target vehicle state during steady-state conditions based on the plurality of dynamic variables, the vehicle configuration information, and the driving environment conditions. ### Claim 14 A vehicle, comprising: a driver command interpreter system, comprising: a plurality of sensors that collects a plurality of dynamic variables that each represent an operating parameter indicative of a dynamic state of the vehicle; one or more controllers in electronic communication with the plurality of sensors, the one or more controllers executing instructions to: receive the plurality of dynamic variables from the plurality of sensors, vehicle configuration information, and driving environment conditions; determine a target vehicle state during transient driving conditions based on the plurality of dynamic variables from the plurality of sensors, the vehicle configuration information, and the driving environment conditions; build a transient vehicle dynamic model based on the target vehicle state during transient driving conditions, the plurality of dynamic variables, the vehicle configuration information, and the driving environment conditions; solve for desired zeros corresponding to the target vehicle state during transient conditions based on the transient vehicle dynamic model, wherein the desired zeros are shaped to result in the target vehicle state during the transient driving conditions being achieved; and store the desired zeros in memory, wherein the one or more controllers employ the desired zeros in real-time to determine real-time constraints upon the vehicle during operation. ### Claim 15 (depends on 14) The vehicle of claim 14, wherein the target vehicle state during transient conditions include a target transient yaw rate and a target transient lateral velocity. ### Claim 16 (depends on 15) The vehicle of claim 15, wherein the one or more controllers execute instructions to: solve for the desired zero corresponding to a yaw rate transfer function that results in the target transient yaw rate being achieved. ### Claim 17 (depends on 16) The vehicle of claim 16, wherein the yaw rate transfer function is expressed as: G rd ( s ) = ( s z rd + 1 ) ⁢ ω nd 2 s 2 + 2 ⁢ ξ d ⁢ ω nd ⁢ s + ω nd 2 ⁢ Ω gain wherein s is a Laplace operator, Grd(s) is the yaw rate transfer function, zrd is the desired zero for the yaw rate transfer function Grd(s), ωnd is a desired natural frequency, ξd is a desired damping ratio, and Ωgain is the gain of the yaw rate. ### Claim 18 (depends on 15) The vehicle of claim 15, wherein the one or more controllers execute instructions to: solve for the desired zero corresponding to a lateral velocity transfer function that results in the target transient lateral velocity being achieved. ### Claim 19 (depends on 15) The vehicle of claim 15, wherein the target transient lateral velocity is expressed as: G v y ⁢ d ( s ) = ( s z v yd + 1 ) ⁢ ω nd 2 s 2 + 2 ⁢ ξ d ⁢ ω nd ⁢ s + ω nd 2 ⁢ V y ⁢ _ ⁢ gain wherein s is a Laplace operator, Gvyd(s) is the Gvyd(s), ωnd is a desired natural frequency, ξd is a desired damping ratio, zvyd is the desired zero for the lateral velocity transfer function Gvyd (s), and Vy,gain is the gain of the lateral velocity. ### Claim 20 A method for determining a target vehicle state during transient driving conditions by a driver command interpreter system, the method comprising: receiving, by one or more controllers, a plurality of dynamic variables from a plurality of sensors, vehicle configuration information, and driving environment conditions, wherein the plurality of dynamic variables each represent an operating parameter indicative of a dynamic state of the vehicle; determining a target vehicle state during transient driving conditions based on the plurality of dynamic variables from the plurality of sensors, the vehicle configuration information, and the driving environment conditions; building a transient vehicle dynamic model based on the target vehicle state during transient driving conditions, the plurality of dynamic variables, the vehicle configuration information, and the driving environment conditions; solving for desired zeros corresponding to the target vehicle state during the transient driving conditions based on the transient vehicle dynamic model, wherein the desired zeros are shaped to result in the target vehicle state during the transient driving conditions being achieved; and storing the desired zeros in memory, wherein the one or more controllers employ the desired zeros in real-time to determine real-time constraints upon a vehicle during operation.