METHODS AND SYSTEMS FOR CALCULATING YAW GAIN FOR USE IN CONTROLLING A VEHICLE
First Claim
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1. A method for calculating a yaw gain for use in controlling a vehicle, the method comprising the steps of:
- obtaining a turn radius of the vehicle;
obtaining a vehicle speed;
calculating an adjustment factor for a baseline steering geometry equation, based at least in part on the turn radius; and
calculating the yaw gain based at least in part on the turn radius, the vehicle speed, and the adjustment factor.
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Abstract
A method for calculating a yaw gain for use in controlling a vehicle includes the steps of obtaining a steer angle of the vehicle, obtaining a vehicle speed, determining an adjustment factor for a baseline steering geometry equation, obtaining vehicle understeer gradient as a function of lateral acceleration, and calculating the yaw gain. The adjustment factor is determined based at least in part on the turn radius. The yaw gain is calculated based at least in part on the vehicle speed, the steer angle, the vehicle understeer gradient, and the adjustment factor.
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Citations
20 Claims
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1. A method for calculating a yaw gain for use in controlling a vehicle, the method comprising the steps of:
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obtaining a turn radius of the vehicle; obtaining a vehicle speed; calculating an adjustment factor for a baseline steering geometry equation, based at least in part on the turn radius; and calculating the yaw gain based at least in part on the turn radius, the vehicle speed, and the adjustment factor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A program product for calculating a yaw gain for use in controlling a vehicle, the program product comprising:
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a program configured to at least facilitate; obtaining a turn radius of the vehicle; obtaining a vehicle speed; determining an adjustment factor for a baseline steering geometry equation, based at least in part on the turn radius; and calculating the yaw gain based at least in part on the turn radius, the vehicle speed, and the adjustment factor; and a computer-readable signal-bearing media bearing the program. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A system for controlling a steering action of a vehicle, the system comprising:
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a first sensing device configured to sense a first value used to at least facilitate determining a turn radius of the vehicle; a second sensing device configured to sense a second value used to at least facilitate determining a vehicle speed of the vehicle; and a processor configured to at least facilitate; determining an adjustment factor for a baseline steering geometry equation, based at least in part on the turn radius; calculating a yaw gain based at least in part on the turn radius, the vehicle speed, and the adjustment factor; and controlling the steering action using the yaw gain. - View Dependent Claims (17, 18, 19, 20)
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Specification