Vehicle stability learning for brake-to-steer and Mu estimation
A number of variations may include a method that may include modifying, in real-time, at least one brake or powertrain torque or force to one or more roadwheels of a vehicle to increase lateral stability during Brake-to-Steer functionality.
1 . A product comprising a non-transitory computer readable medium having instructions thereon executable by an electronic processor to implement functionality comprising:
receiving vehicle dynamics data input;
receiving or calculating one or more stability indicators and thresholds;
using stability indicator duration and magnitude to determine when an instability event is occurring;
when an instability event is occurring, using at least one of a first learned Mu estimate, current learned brake-to-steer modifications, or previously stored stability memory data to calculate a first brake-to-steer modification.
2 . The product as set forth in claim 1 further comprising, when an instability event is occurring, estimating a new maximum achievable vehicle acceleration in terms of received vehicle dynamics data input, from the stored stability memory data.
3 . The product as set forth in claim 2 further comprising using the first estimated maximum achievable vehicle acceleration, previous estimated maximum achievable vehicle acceleration, current estimated Mu values, and previous estimated Mu values to calculate the first learned Mu estimate.
4 . The product as set forth in claim 1 further comprising, when an instability event is not occurring, monitoring the received vehicle dynamics data input to determine when the vehicle maneuver exceeds the current estimated maximum achievable vehicle acceleration.
5 . The product as set forth in claim 4 further comprising, when the vehicle acceleration exceeds the current estimated maximum achievable vehicle acceleration while an unstable event is not occurring, using at least one of current vehicle dynamics data input, current Mu estimate, current learned brake-to-steer modifications, or previously stored stability memory data to calculate a second brake-to-steer modification.
6 . The product as set forth in claim 5 further comprising
estimating a second maximum achievable vehicle acceleration in terms of received vehicle dynamics data input, from the stored stability memory data.
7 . The product as set forth in claim 6 further comprising using the second estimated maximum achievable vehicle acceleration, previous estimated maximum achievable vehicle acceleration, current estimated Mu values, and previous estimated Mu values to calculate a second learned Mu estimate.
8 . The product as set forth in claim 1 further comprising using the first brake-to-steer modification to alter at least one of brake-to-steer brake or powertrain commands in a proactive, reactive, and non-transitory manner.
9 . The product as set forth in claim 8 wherein the using the first brake-to-steer modification to alter at least one of brake-to-steer brake or powertrain commands occurs before brake-to-steer function activation.
10 . The product as set forth in claim 1 further comprising using the first, first learned Mu estimate to enhance brake-to-steer functionality.
11 . The product as set forth in claim 1 further comprising transmitting the first learned Mu estimate to other vehicle functions.
12 . The product as set forth in claim 1 wherein the first brake-to-steer modification is calculated using the first learned Mu estimate.
13 . The product as set forth in claim 1 wherein the first brake-to-steer modification is calculated using the current learned brake-to-steer modifications.
14 . The product as set forth in claim 1 wherein the first brake-to-steer modification is calculated using the previously stored stability memory data.
15 . A method of preforming act using an electronic controller comprising:
receiving vehicle dynamics data input;
receiving or calculating one or more stability indicators and thresholds;
using stability indicator duration and magnitude to determine when an instability event is occurring;
when an instability event is occurring, using at least one of a first learned Mu estimate, current learned brake-to-steer modifications, or previously stored stability memory data to calculate a first brake-to-steer modification.
16 . The method as set forth in claim 15 further comprising, when an instability event is occurring, estimating a new maximum achievable vehicle acceleration in terms of received vehicle dynamics data input, from the stored stability memory data.
17 . The method as set forth in claim 16 further comprising using the first estimated maximum achievable vehicle acceleration, previous estimated maximum achievable vehicle acceleration, current estimated Mu values, and previous estimated Mu values to calculate the first learned Mu estimate.
18 . The method as set forth in claim 15 further comprising, when an instability event is not occurring, monitoring the received vehicle dynamics data input to determine when the vehicle maneuver exceeds the current estimated maximum achievable vehicle acceleration.
19 . The method as set forth in claim 18 further comprising, when the vehicle acceleration exceeds the current estimated maximum achievable vehicle acceleration while an unstable event is not occurring, using at least one of current vehicle dynamics data input, current Mu estimate, current learned brake-to-steer modifications, or previously stored stability memory data to calculate a second brake-to-steer modification.
20 . The method as set forth in claim 19 further comprising
estimating a second maximum achievable vehicle acceleration in terms of received vehicle dynamics data input, from the stored stability memory data.
21 . The method as set forth in claim 20 further comprising using the second estimated maximum achievable vehicle acceleration, previous estimated maximum achievable vehicle acceleration, current estimated Mu values, and previous estimated Mu values to calculate a second learned Mu estimate.
22 . The method as set forth in claim 15 further comprising using the first brake-to-steer modification to alter at least one of brake-to-steer brake or powertrain commands in a proactive, reactive, and non-transitory manner.
23 . The method as set forth in claim 22 wherein the using the first brake-to-steer modification to alter at least one of brake-to-steer brake or powertrain commands occurs before brake-to-steer function activation.
24 . The method as set forth in claim 15 further comprising using the first, first learned Mu estimate to enhance brake-to-steer functionality.
25 . The method as set forth in claim 15 further comprising transmitting the first learned Mu estimate to other vehicle functions.
26 . The method as set forth in claim 15 wherein the first brake-to-steer modification is calculated using the first learned Mu estimate.
27 . The method as set forth in claim 15 wherein the first brake-to-steer modification is calculated using the current learned brake-to-steer modifications.
28 . The method as set forth in claim 15 wherein the first brake-to-steer modification is calculated using the previously stored stability memory data.