公开(公告)号：US11724739B2

公开(公告)日：2023-08-15

申请号：US17382879

申请日：2021-07-22

Applicant: GM Global Technology Operations LLC

Inventor： Ehsan Asadi ,  Seyedalireza Kasaiezadeh Mahabadi ,  Gill Lipton ,  Asal Nahidi ,  Isaac Tabatschnic ,  Bakhtiar B. Litkouhi

IPC: B62D15/02 ,  B62D7/14

CPC classification number: B62D15/025 ,  B62D7/142

Abstract: A method of controlling a vehicle includes obtaining a linear representation of a vehicle dynamics model that includes actuator dynamics u integrated with vehicle dynamics x. The actuator dynamics u include a road wheel angle at rear wheels δr and a torque Mz. The method also includes obtaining an objective function based on a function of the vehicle dynamics x and the actuator dynamics u and formulating a cost function to minimize the objective function. The actuator dynamics u including the torque Mz are determined for a next time sample based on minimizing the objective function. The vehicle is controlled to implement the torque Mz.

公开(公告)号：US20230044869A1

公开(公告)日：2023-02-09

申请号：US17382879

申请日：2021-07-22

Applicant: GM Global Technology Operations LLC

Inventor： Ehsan Asadi ,  SeyedAlireza Kasaiezadeh Mahabadi ,  Gill Lipton ,  Asal Nahidi ,  Isaac Tabatschnic ,  Bakhtiar B. Litkouhi

IPC: B62D15/02 ,  B62D7/14

Abstract: A method of controlling a vehicle includes obtaining a linear representation of a vehicle dynamics model that includes actuator dynamics u integrated with vehicle dynamics x. The actuator dynamics u include a road wheel angle at rear wheels δr and a torque Mz. The method also includes obtaining an objective function based on a function of the vehicle dynamics x and the actuator dynamics u and formulating a cost function to minimize the objective function. The actuator dynamics u including the torque Mz are determined for a next time sample based on minimizing the objective function. The vehicle is controlled to implement the torque Mz.