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METHOD TO CONTROL A VEHICLE PATH DURING AUTONOMOUS BRAKING

  • US 20150251664A1
  • Filed: 03/10/2014
  • Published: 09/10/2015
  • Est. Priority Date: 03/10/2014
  • Status: Active Grant
First Claim
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1. A travel path control method for a vehicle comprising, comprising steps of:

  • detecting a braking of the vehicle by a computing device;

    calculating a friction ellipse for the vehicle based on a current state of the vehicle;

    determining if there is a path error where an actual vehicle travel path is outside an intended vehicle travel path when the braking is detected;

    when the actual vehicle travel path is outside the intended vehicle travel path, calculating a new friction ellipse for the vehicle;

    determining a compensating yaw moment to correct the path error;

    determining a maximum acceleration based on the prospective friction ellipse; and

    transmitting a command to a controller based on the maximum acceleration and the compensating yaw moment.

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