Patent ID: 11872989
Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 12:
13. A vehicle system, comprising:
a propulsion system, a steering system, and a wheel braking system that are operatively connected to a controller, the controller including an instruction set that is executable to:
receive vehicle operating parameters and input commands, including receive a vehicle yaw rate, receive a vehicle longitudinal speed, and receive an operator command for vehicle steering, wherein the operator command for vehicle steering includes a front wheel steering angle and a rear wheel steering angle;
receive a driver-selectable mode;
determine a desired future trajectory using the front wheel steering angle and the rear wheel steering angle with a dual-track bicycle model in which the input commands and the vehicle operating parameters are control variables;
determine a desired future longitudinal torque horizon based upon the vehicle operating parameters and the input commands;
determine a desired future yaw rate horizon based upon the vehicle operating parameters and the input commands, including based upon the vehicle yaw rate, the vehicle longitudinal speed, and the operator command for vehicle steering;
determine a desired future lateral speed horizon based upon the vehicle operating parameters and the input commands;
determine weighting factors for the desired future longitudinal torque horizon, the desired future yaw rate horizon, and the desired future lateral speed horizon based upon the driver-selectable mode; and
control, via the controller, operation of the propulsion system based upon the determined desired future trajectory, the desired future longitudinal torque horizon, the desired future yaw rate horizon, the desired future lateral speed horizon, and the weighting factors.