# US 12,214,793 B2 · Controlling motion of a vehicle

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- Number: US 12,214,793 B2
- Document ID: US12214793B2
- Status: Granted
- Kind: B2
- Application number: 17/857,805
- Filed: 2022-07-05
- Published: 2023-01-05
- Granted: 2025-02-04
- Earliest claimed: 2021-07-05
- Assignees: Rimac Technology LLC
- Applicants: Rimac Technology LLC
- Inventors: Kruno Hrvatinic; Sandor Iles; Ajinkya Krishnakumar; Jadranko Matusko; Bojan Spahija; Marko Svec
- Web page: https://patentgrep.com/patent/US12214793B2

## CPC

- B60W 30/10: Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)}
- B60W 50/0097: {Predicting future conditions}
- B60W 10/20: including control of steering systems
- B60W 40/114: Yaw movement
- B60W 50/0098: {Details of control systems ensuring comfort, safety or stability not otherwise provided for}
- B60W 30/18172: {Preventing, or responsive to skidding of wheels}
- B60W 2050/0028: {Mathematical models, e.g. for simulation}
- B60W 2520/10: Longitudinal speed
- B60W 2520/12: Lateral speed
- B60W 2520/14: Yaw
- B60W 2520/28: Wheel speed
- B60W 2520/30: Wheel torque
- B60W 2540/10: Accelerator pedal position
- B60W 2540/12: Brake pedal position
- B60W 2720/14: Yaw
- B60W 2720/30: Wheel torque
- 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 method for controlling motion of a vehicle, the method comprising the steps of: obtaining input information on a vector related to the velocity of said vehicle; computing repeatably a future trajectory of said vehicle based on said input information and trial torques to be applied to at least one wheel of said vehicle for optimizing said future trajectory in view of a target vehicle motion, thereby obtaining target trial torques; and applying the obtained target trial torques to the at least one wheel for controlling the motion of said vehicle.

## Claims

### Claim 1

A method for controlling motion of a vehicle, the method comprising:
obtaining input information on a vector related to a velocity of said vehicle;
computing repeatably a future trajectory of said vehicle based on said input information and trial torques to be applied to at least one wheel of said vehicle for optimizing said future trajectory in view of a target vehicle motion, thereby obtaining target trial torques; and
applying the obtained target trial torques to the at least one wheel for controlling the motion of said vehicle,
wherein:
the vector related to the velocity of said vehicle comprises at least two of: a transversal velocity of said vehicle, a longitudinal velocity of said vehicle, a yaw rate of said vehicle, and a ratio of the transversal velocity of said vehicle and the longitudinal velocity of said vehicle or any derivative or integrated quantity of the above quantities;
said input information further comprises information on a motion target of said vehicle, wherein the motion target of said vehicle is an input provided by a driver;
said input information further comprises respective angular velocities of all four wheels of the vehicle as well as a yaw rate of said vehicle;
optimizing said future trajectory includes controlling said yaw rate of said vehicle; and
the trial torques to be applied to at least one wheel of said vehicle are calculated by comparing a computed future trajectory with a target trajectory, and determining whether the computed future trajectory is close to a target trajectory.

### Claim 2 (depends on 1)

The method according to claim 1, comprising:
selecting the trial torques that correspond to the computed future trajectory as the target trial torques when the computed future trajectory is determined as close to the target trajectory; and
when the computed future trajectory is determined as not close to the target trajectory, modifying the trial torques and comparing a computed future trajectory with a target trajectory.

### Claim 3 (depends on 1)

The method according to claim 1, wherein the motion target includes input provided by a driver on at least one of a gas pedal and a braking pedal of said vehicle.

### Claim 4

A vehicle configured to execute a method for controlling motion of said vehicle, the method comprising:
obtaining input information on a vector related to a velocity of said vehicle;
computing repeatably a future trajectory of said vehicle based on said input information and trial torques to be applied to at least one wheel of said vehicle for optimizing said future trajectory in view of a target vehicle motion, thereby obtaining target trial torques; and
applying the obtained target trial torques to the at least one wheel for controlling the motion of said vehicle,
wherein:
the vector related to the velocity of said vehicle comprises at least two of a transversal velocity of said vehicle, a longitudinal velocity of said vehicle, a yaw rate of said vehicle, and a ratio of the transversal velocity of said vehicle and the longitudinal velocity of said vehicle or any derivative or integrated quantity of the above quantities;
said input information further comprises information on a motion target of said vehicle, wherein the motion target of said vehicle is an input provided by a driver;
said input information further comprises respective angular velocities of all four wheels of the vehicle as well as a yaw rate of said vehicle;
optimizing said future trajectory includes controlling said yaw rate of said vehicle; and
the trial torques to be applied to at least one wheel of said vehicle are calculated by comparing a computed future trajectory with a target trajectory, and determining whether the computed future trajectory is close to a target trajectory.

### Claim 5

A device comprising an interface to a vehicle, said vehicle providing input information on a vector related to a velocity of said vehicle to said device via said interface, wherein said device is configured to:
compute repeatably a future trajectory of said vehicle based on said input information and trial torques to be applied to at least one wheel of said vehicle for optimizing said future trajectory in view of a target vehicle motion, thereby obtaining target trial torques; and
output the obtained target trial torques to said vehicle to be applied to the at least one wheel for controlling the motion of said vehicle,
wherein:
the vector related to the velocity of said vehicle comprises at least two of a transversal velocity of said vehicle, a longitudinal velocity of said vehicle, a yaw rate of said vehicle, and a ratio of the transversal velocity of said vehicle and the longitudinal velocity of said vehicle or any derivative or integrated quantity of the above quantities;
said input information further comprises information on a motion target of said vehicle, wherein the motion target of said vehicle is an input provided by a driver;
said input information further comprises respective angular velocities of all four wheels of the vehicle as well as a yaw rate of said vehicle;
optimizing said future trajectory includes controlling said yaw rate of said vehicle; and
the trial torques to be applied to at least one wheel of said vehicle are calculated by comparing a computed future trajectory with a target trajectory, and determining whether the computed future trajectory is close to a target trajectory.

### Claim 6 (depends on 5)

The device as claimed in claim 5 further comprising:
a yaw rate target calculation component adapted to calculate a yaw rate target based on a current state of the vehicle, and
a model predictive control problem formulation component adapted to create a model predictive control problem suited to the vehicle's current state and desired behavior, wherein the model predictive control problem is being formulated as a finite horizon open-loop optimal control problem.

### Claim 7 (depends on 6)

The device as claimed in claim 6 further comprising:
a quadratic program solver component adapted to calculate the obtained target trial torques, to be applied to at least one of the wheels of the vehicle.