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Stabilized directional control systems and methods

  • US 9,676,464 B2
  • Filed: 07/01/2014
  • Issued: 06/13/2017
  • Est. Priority Date: 01/31/2013
  • Status: Active Grant
First Claim
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1. A system comprising:

  • a logic device configured to receive one or more sensor signals and generate one or more controller signals to provide directional control for a vehicle, wherein the logic device is configured to;

    receive a steering angle and a yaw rate of the vehicle, wherein the steering angle is based, at least in part, on a steering demand;

    determine a nominal vehicle steering rate by processing the steering angle with a nominal vehicle predictor to produce the nominal vehicle steering rate, wherein the nominal vehicle predictor is implemented as a transfer function modeling dynamics of a nominal vehicle derived, at least in part, from a selection of vehicles; and

    determine a nominal vehicle feedback signal based, at least in part, on a combination of the nominal vehicle steering rate and the yaw rate, wherein the nominal vehicle feedback signal is provided to adjust the steering demand, and wherein the processing the steering angle with the nominal vehicle predictor comprises processing the steering angle, adjusted by the nominal vehicle feedback signal, with the nominal vehicle predictor and receiving the nominal vehicle steering rate from the nominal vehicle predictor.

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