Vehicle motion control using torque vectoring with consideration of driver intent and load transfer
AssigneeWhs Energy Solutions, LLC
InventorsKilsoo Kim, Paolo E. Pucci
Life of this patent
Estimating the term…
Abstract
A method includes identifying an actual path and a desired path for a vehicle, where the actual path represents an expected path for the vehicle based on current operation of the vehicle and the desired path represents an estimated path that a driver of the vehicle wants to follow. The method also includes identifying one or more errors between the actual path and the desired path. The method further includes determining how to apply torque vectoring to cause the vehicle to more closely follow the desired path based on the one or more errors. In addition, the method includes applying the torque vectoring to create lateral movement of the vehicle during travel.
Claims21
A method comprising:
- operating at least one processing device of a vehicle for
- identifying an actual path and a desired path for a vehicle, the actual path representing an expected path for the vehicle based on current operation of the vehicle, the desired path representing an estimated path that a driver of the vehicle wants to follow;
- identifying one or more errors between the actual path and the desired path;
- determining how to apply torque vectoring to cause the vehicle to more closely follow the desired path based on the one or more errors by identifying a yaw moment for the vehicle about a vertical axis of the vehicle and using a distribution function to distribute the yaw moment to different wheels of the vehicle;
- and
- applying the torque vectoring to create lateral movement of the vehicle during travel.
An apparatus comprising:
- at least one processing device configured to:
- identify an actual path and a desired path for a vehicle, the actual path representing an expected path for the vehicle based on current operation of the vehicle, the desired path representing an estimated path that a driver of the vehicle wants to follow;
- identify one or more errors between the actual path and the desired path;
- determine how to apply torque vectoring to cause the vehicle to more closely follow the desired path based on the one or more errors by identifying a yaw moment for the vehicle about a vertical axis of the vehicle and using a distribution function to distribute the yaw moment to different wheels of the vehicle;
- and
- apply the torque vectoring to create lateral movement of the vehicle during travel.
A non-transitory machine-readable medium containing instructions that when executed cause at least one processor to:
- identify an actual path and a desired path for a vehicle, the actual path representing an expected path for the vehicle based on current operation of the vehicle, the desired path representing an estimated path that a driver of the vehicle wants to follow;
- identify one or more errors between the actual path and the desired path;
- determine how to apply torque vectoring to cause the vehicle to more closely follow the desired path based on the one or more errors by identifying a yaw moment for the vehicle about a vertical axis of the vehicle and using a distribution function to distribute the yaw moment to different wheels of the vehicle;
- and
- apply the torque vectoring to create lateral movement of the vehicle during travel.
Dependencies are inferred from the claim text.