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Vehicle dynamics control in electric drive vehicles

  • US 9,469,214 B2
  • Filed: 03/24/2014
  • Issued: 10/18/2016
  • Est. Priority Date: 03/29/2010
  • Status: Active Grant
First Claim
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1. A vehicle dynamics control system, comprising:

  • a first motor electrically coupled to a first drive electronics module, the first motor coupled to a first wheel, and a second motor electrically coupled to a second electronics module, the second motor coupled to a second wheel; and

    a control processor configured to control the electric motors by transmitting speed commands to the drive electronics modules, the transmitted speed commands determined by causing the control processor to;

    receive velocity data from at least one sensor,receive driver data from at least one driver input sensor,generate first and second required wheel speeds from the driver data and the velocity data and direction data,determine an optimal steering condition based on the velocity data, the driver data, and the direction data,calculate in response to the received velocity data and driver data, at least one front slip angle and at least one rear slip angle,determine, using the at least one front slip angle and at least one rear slip angle, whether a current steering condition is understeering or oversteering in comparison with the optimal steering condition, the understeering corresponding to the at least one front slip angle being greater than the at least one rear slip angle, and oversteering corresponding to the at least one rear slip angle being greater than the at least one front slip angle,calculate, in response to determining the current steering condition is understeering, first and second optimum wheel speeds, the calculated optimum wheel speeds being the speed at which each wheel is driven so as to decrease the at least one front slip angle or increase the at least one rear slip angle to achieve the optimal steering condition,calculate, in response to determining the current steering condition is oversteering, first and second optimum wheel speeds, the calculated optimum wheel speeds being the speed at which each wheel can be driven so as to increase the at least one front slip angle or decrease the at least one rear slip angle to achieve the optimal steering condition,determine a first and second commanded wheel speed by limiting the first and second required wheel speeds to, respectively, the first and second optimum wheel speeds, andtransmit the first and second commanded wheel speeds to the first and second drive electronics modules for adjusting the first and the second wheel speeds to the calculated first and the second optimum wheel speeds.

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