Drift control
AssigneeRimac Technology LLC
InventorYash Raj Khusro
Life of this patent
Estimating the term…
Abstract
A method for controlling motion of a vehicle, the method comprising the steps of: obtaining measured information related to a state of the vehicle; determining estimated information related to the state of the vehicle based on the measured information; determining a yaw moment reducing a rate of change of a body slip angle of the vehicle based on the measured information and/or the estimated information; determining at least one differential torque to be applied to at least two wheels of a same axis of the vehicle based on the body slip angle of the vehicle and the determined yaw moment; and applying the at least one differential torque to the at least two wheels of the vehicle.
Claims14
A method for controlling motion of a vehicle, the method comprising:
- obtaining measured information related to a state of the vehicle;
- determining estimated information related to the state of the vehicle based on the measured information;
- determining a yaw moment reducing a rate of change of a body slip angle of the vehicle based on the measured information and/or the estimated information;
- determining at least one differential torque to be applied to at least two wheels of a same axis of the vehicle based on the body slip angle of the vehicle and the determined yaw moment;
- and
- applying the at least one differential torque to the at least two wheels of the vehicle;
- wherein the measured information comprises at least one of a longitudinal acceleration, a lateral acceleration, a yaw rate, and a wheel speed of at least one wheel.
A vehicle, comprising:
- at least one processor;
- and
- a memory storing one or more instructions, which when executed by the at least one processor, cause the vehicle to:
- determine estimated information related to a state of the vehicle based on measured information;
- determine a yaw moment reducing a rate of change of a body slip angle of the vehicle based on the measured information and/or the estimated information;
- determine at least one differential torque to be applied to at least two wheels of a same axis of the vehicle based on the body slip angle of the vehicle and the determined yaw moment;
- and
- apply the at least differential torque to the at least two wheels of the vehicle;
- wherein the measured information comprises at least one of a longitudinal acceleration, a lateral acceleration, a yaw rate, and a wheel speed of at least one wheel.
A device, comprising:
- at least one processor;
- and
- a memory storing one or more instructions, which when executed by the at least one processor, cause a vehicle to:
- obtain measured information related to a state of the vehicle;
- determine estimated information related to the state of the vehicle based on the measured information;
- determine a yaw moment reducing a rate of change of a body slip angle of the vehicle based on the measured information and/or the estimated information;
- determine at least one differential torque to be applied to at least two wheels of a same axis of the vehicle based on the body slip angle of the vehicle and the determined yaw moment;
- and
- apply the at least one differential torque to the at least two wheels of the vehicle;
- wherein the measured information comprises at least one of a longitudinal acceleration, a lateral acceleration, a yaw rate, and a wheel speed of at least one wheel.
Dependencies are inferred from the claim text.