Method to effectively predict tire saturation for evasive steering and active safety control

A system for operating a vehicle, comprising:

• a sensor for obtaining a first stream of data related to road wheel angle for the vehicle and a second stream of data related to lateral acceleration for the vehicle;
• a processor configured to:
• determine a reduced tire model for the vehicle using the first stream of data and the second stream of data;
• obtain a measurement of a current road wheel angle and a measurement of a current lateral acceleration;
• determine a current slope from the current road wheel angle and the current lateral acceleration;
• compare the current slope to the reduced tire model to predict a level of saturation of a tire of the vehicle;
• control a steering actuator of the vehicle to steer the vehicle based on the level of saturation of the tire;
• and
• learn a yaw relation model for the vehicle and adjust a model parameter of an adaptive vehicle model based on a comparison of a current yaw slope to a normal yaw slope of the yaw relation model and a yaw limit slope of the yaw relation model.

A vehicle, comprising:

• a sensor for obtaining a first stream of data related to road wheel angle for the vehicle and a second stream of data related to lateral acceleration for the vehicle;
• a steering actuator for steering the vehicle;
• a processor configured to:
• determine a reduced tire model for the vehicle using the first stream of data and the second stream of data;
• obtain a measurement of a current road wheel angle and a measurement of a current lateral acceleration;
• determine a current slope from the current road wheel angle and the current lateral acceleration;
• compare the current slope to the reduced tire model to predict a level of saturation of a tire of the vehicle;
• control the steering actuator to steer the vehicle based on the level of saturation of the tire;
• and
• learn a yaw relation model for the vehicle and adjust a model parameter of an adaptive vehicle model based on a comparison of a current yaw slope to a normal yaw slope of the yaw relation model and a yaw limit slope of the yaw relation model.