Brake-to-steer lateral stability management based on stability indicator correlation

Inventors: Alexander Jennings (Bath, MI); Sarin Kodappully (Midland, MI)

Assignees: Steering Solutions IP Holding Corporation; Continental Automotive Systems Inc.

B60W30/02 B60W10/04 B60W10/18 B60W10/20 B60W30/045 B60W30/18145 B60W2520/10 B60W2520/14 B60W2520/26 B60W2520/28 B60W2540/18 B60W2710/06 B60W2710/08 B60W2710/18 B60W2710/20

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Quick Facts

Patent No.: US 12709262
App. No.: 18/365,057
Granted: Aug 18, 2026
Kind: B2

External Links

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Abstract

A number of variations are disclosed including a system and method for modifying, in real-time, at least one brake or powertrain application to individual roadwheels of a vehicle to increase lateral maneuver capability in a vehicle having an operational, partially operational, failing, or failed electronic steering system. The system and method may include modifying at least one brake or powertrain command to individual roadwheels where vehicle instability is detected.

Claims (32)

1 . A non-transitory computer readable medium having written instructions stored thereon and executable by an electronic processor to provide functionality comprising:

receiving wheel speeds and vehicle speed data and calculating stability indicators using the wheel speeds and vehicle speed data;

determining when a brake-to-steer system is steering a vehicle;

calculating a stability indicator-based scalar using the stability indicators;

communicating at least one of original brake-to-steer brake command or original powertrain command to at least one of a brake-to-steer brake command modifier or a brake-to-steer powertrain command modifier;

communicating the stability indicator-based scalar to the at least one of the brake-to-steer brake command modifier or the brake-to-steer powertrain command modifier and modifying the original brake-to-steer brake command or the original powertrain command, by the brake-to-steer brake command modifier or the brake-to-steer powertrain command modifier, to produce at least one of a modified brake-to-steer brake command or a modified brake-to-steer powertrain command.

2 . A non-transitory computer readable medium as set forth in claim 1 further comprising calculating tire slip ratios for each tire at corners of the vehicle using the wheel speeds and vehicle speed data;

and wherein the calculating stability indicators comprises using the tire slip ratios.

3 . A non-transitory computer readable medium as set for in claim 1 wherein the functionality further comprises communicating at least one of the original brake-to-steer brake command or the original powertrain command or communication at least one of a modified brake-to-steer brake command or modified powertrain command to a domain controller to reduce lateral instability in a vehicle during brake-to-steer operation.

4 . A non-transitory computer readable medium as in claim 1 , wherein the brake-to-steer brake command modifier produces a brake-to-steer brake command value that is a scalar value.

5 . A non-transitory computer readable medium as in claim 1 , wherein the brake-to-steer powertrain command modifier produces a powertrain command modifier value that is a scalar value.

6 . A non-transitory computer readable medium as in claim 1 , wherein the brake-to-steer brake command modifier produces a brake command modifier value that is a reduction value.

7 . A non-transitory computer readable medium as in claim 1 , wherein the brake-to-steer powertrain command modifier produces a powertrain command modifier value that is a reduction value.

8 . A non-transitory computer readable medium having written instructions stored thereon and executable by an electronic processor to provide functionality comprising:

receiving wheel speeds and vehicle speed data and calculating stability indicators using the wheel speeds and the vehicle speed data;

determining when a brake-to-steer system is steering a vehicle;

calculating a stability indicator-based scalar using the stability indicators;

communicating at least one of an original brake-to-steer brake command or an original powertrain command in a first state to at least one of a brake command modifier or a powertrain command modifier;

9 . A non-transitory computer readable medium as set for in claim 8 wherein the brake-to-steer brake command modifier produces a brake command modifier value that is a scalar value.

10 . A non-transitory computer readable medium having written instructions stored thereon and executable by an electronic processor to provide functionality comprising:

determining when a brake-to-steer system is steering the vehicle;

communicating at least one of an original brake-to-steer brake command or an original brake-to-steer powertrain command;

calculating or receiving a vehicle stability indicator;

comparing the stability indicator to a stability indicator threshold range, and when the stability indicator is beyond a limit of the stability indicator threshold range then calculating a modulation of at least one of the original brake-to-steer brake command or an original brake-to-steer powertrain command and applying the modulation to the original brake-to-steer brake command or the original brake-two-steer powertrain command to provide a modified brake-to-steer brake command or a modified brake-to-steer powertrain command, and outputting the modified brake-to-steer brake command or the modified brake-to-steer powertrain command.

11 . A non-transitory computer readable medium as in claim 10 , wherein calculating a modulation of at least one of the original brake-to-steer brake command or the original brake-to-steer powertrain command is based on at least one of measured vehicle speed or yaw rate error; and wherein the modified brake-to-steer brake command or a modified brake-to-steer powertrain command is based on a brake command modifier value or a powertrain command modifier value.

12 . A non-transitory computer readable medium as in claim 11 , wherein the brake command modifier value is a scalar value.

13 . A non-transitory computer readable medium as in claim 11 , wherein the powertrain command modifier value is a scalar value.

14 . A non-transitory computer readable medium as in claim 11 , wherein the brake command modifier value is a reduction value.

15 . A non-transitory computer readable medium as in claim 11 , wherein the powertrain command modifier value is a reduction value.

16 . A non-transitory computer readable medium as in claim 11 , wherein the brake command modifier value based on at least one of measured vehicle speed or the yaw rate error comprises utilizing at least one of: a two-dimensional yaw rate error versus speed table; a one-dimensional yaw rate error table; a single yaw rate error value; a two-dimensional yaw rate error verses wheel speed table; a two-dimensional yaw rate error verses yaw rate table; a three-dimensional table of yaw rate error, yaw rate, wheel speeds; or other numeric calculations.

17 . A non-transitory computer readable medium as in claim 11 , wherein the calculating the modulation of at least one of the original brake-to-steer brake command or the original brake-to-steer powertrain command comprises multiplying or dividing the original brake-to-steer brake command or the original brake-to-steer powertrain command by a scalar, or calculating new a command by adding or subtracting an offset from the original brake-to-steer brake command or the original brake-to-steer powertrain command.