# US 12,600,346 B2 · Brake-to-steer lateral stability management based on stability indicator correlation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,600,346 B2 - Document ID: US12600346B2 - Status: Granted - Kind: B2 - Application number: 18/365,073 - Filed: 2023-08-03 - Published: 2025-02-06 - Granted: 2026-04-14 - Earliest claimed: 2023-08-03 - Assignees: Steering Solutions IP Holding Corporation; Continental Automotive Systems, Inc. - Applicants: Steering Solutions IP Holding Corporation; Continental Automotive Systems, Inc. - Inventors: Alexander Jennings; Sarin Kodappully - Web page: https://patentgrep.com/patent/US12600346B2 ## CPC - B60W 30/02: Control of vehicle driving stability - B60W 30/045: Improving turning performance - B60W 10/04: including control of propulsion units - B60W 10/18: including control of braking systems - B60W 10/184: with wheel brakes - B60W 10/20: including control of steering systems - B60W 30/18145: {Cornering} - B60W 2520/00: Input parameters relating to overall vehicle dynamics - B60W 2520/10: Longitudinal speed - B60W 2520/14: Yaw - B60W 2710/06: Combustion engines, Gas turbines - B60W 2710/08: Electric propulsion units - B60W 2710/18: Braking system - B60W 2710/20: Steering systems - 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 number of variations are disclosed including a system and method for modifying, in real-time, at least one brake or powertrain application to individual roadwheels of a vehicle to increase lateral maneuver capability in a vehicle having an operational, partially operational, failing, or failed electronic steering system. The system and method may include modifying at least one brake or powertrain command to individual roadwheels where vehicle instability is detected. ## Claims ### Claim 1 A method comprising reducing the potential for loss of vehicle control by modifying at least one of a brake-to-steer brake command or brake-to-steer powertrain command based on a number of calculated, measured, or observed stability indicators to prevent the vehicle from losing stability. ### Claim 2 (depends on 1) A method as set forth in claim 1 further comprising comparing the stability indicator to a stability indicator threshold, and if the stability indicator is beyond the limit of the stability indicator threshold range then calculating a modulation of at least one of a brake or powertrain commands to provide at least one of a modified brake-to-steer brake command or powertrain command, and outputting at least one of the modified brake-to-steer brake command or brake-to-steer powertrain command. ### Claim 3 (depends on 2) A method as set forth in claim 2, further comprising receiving the output modified brake command by a brake system or the output modified powertrain command by a powertrain system. ### Claim 4 (depends on 2) A method as set forth as in claim 2, wherein calculating a modulation of at least one of a brake or powertrain command is based on at least one of measured vehicle speed or the yaw rate error; and the modified brake or powertrain command is based on a brake command modifier value or powertrain command modifier value. ### Claim 5 (depends on 4) A method as set forth as in claim 4, wherein the brake command modifier value is a scalar value. ### Claim 6 (depends on 4) A method as set forth as in claim 4, wherein the powertrain command modifier value is a scalar value. ### Claim 7 (depends on 4) A method as set forth as in claim 4, wherein the brake command modifier value is a reduction value. ### Claim 8 (depends on 4) A method as set forth as in claim 4, wherein the powertrain command modifier value is a reduction value. ### Claim 9 (depends on 4) A method as set forth as in claim 4, wherein the brake command modifier value based on at least one of measured vehicle speed or the yaw rate error comprises utilizing at least one of: a two-dimensional yaw rate error versus speed table; a one-dimensional yaw rate error table; a single yaw rate error value; a two-dimensional yaw rate error verses wheel speed table; a two-dimensional yaw rate error verses yaw rate table; a three-dimensional table of yaw rate error, yaw rate, wheel speeds; or other numeric calculations. ### Claim 10 (depends on 4) A method as set forth as in claim 4, further comprising communicating Brake-to-Steer commands in a pre-scaled state to a Brake-to-Steer command modifier prior to providing a modified brake command based on the brake command modifier value. ### Claim 11 (depends on 2) A method as set forth in claim 2, wherein the calculated modulation is a scalar value. ### Claim 12 (depends on 1) A method as set forth in claim 1 wherein the modifying at least one of a brake-to-steer brake command or brake-to-steer powertrain command comprises modifying the brake-to-steer powertrain command based on a number of calculated, measured, or observed stability indicators prevent the vehicle from losing stability. ### Claim 13 (depends on 1) A method as set forth in claim 1 wherein the modifying is in response to a determination that a vehicle electronic steering system is partially operational, failing, or has failed. ### Claim 14 (depends on 1) A method as set forth in claim 1 wherein the modifying is in response to a determination that a vehicle handwheel sensor has failed. ### Claim 15 (depends on 1) A method as set forth in claim 1 wherein the modifying is in response to a determination that a vehicle pinion sensor has failed. ### Claim 16 (depends on 1) A method as set forth in claim 1 wherein the modifying is in response to a determination that a vehicle steering rack sensor has failed. ### Claim 17 (depends on 1) A method as set forth in claim 1 wherein the modifying is in response to a determination that a vehicle steering rack has failed. ### Claim 18 (depends on 1) A method as set forth in claim 1 wherein the modifying is in response to a determination that a vehicle pinion has failed. ### Claim 19 (depends on 1) A method as set forth in claim 1 wherein the command is provided using a stability indicator-based command scaling algorithm. ### Claim 20 (depends on 1) A method as set forth in claim 1 wherein the modifying comprises modulating the at least one Brake-to-Steer brake or Brake-to-Steer powertrain command.