Patent ID: 11891048
Assignee: NISSAN MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 11:
12. The method as claimed in claim 1, further comprising:
calculating a first threshold of the at least one threshold by a first equation:, a
   max
  
  =
  
   min
   ⁡
   (
   
    
     
      
       
        l
        f
       
       (
       
        
         C
         f
        
        +
        
         C
         r
        
       
       )
      
      
       
        C
        r
       
       [
       
        
         
          (
          
           
            l
            f
           
           +
           
            l
            r
           
          
          )
         
         2
        
        +
        
         κ
         ⁢
         
          V
          2
         
        
       
       ]
      
     
     *
     
      
       δ
       safety
      
      
       ρ
       
        m
        ⁢
        ax
       
      
     
    
    ,
    
     
      
       
        l
        f
       
       (
       
        
         C
         f
        
        +
        
         C
         r
        
       
       )
      
      
       
        C
        r
       
       [
       
        
         
          (
          
           
            l
            f
           
           +
           
            l
            r
           
          
          )
         
         2
        
        +
        
         κ
         ⁢
         
          V
          2
         
        
       
       ]
      
     
     *
     
      
       
        δ
        .
       
       safety
      
      
       
        ρ
        .
       
       
        m
        ⁢
        ax
       
      
     
    
    ,
    1
   
   )
  
 

where:, κ
  =
  
   m
   ⁡
   (
   
    
     
      l
      r
     
     
      C
      f
     
    
    -
    
     
      l
      f
     
     
      C
      r
     
    
   
   )
  
 

and where:
V is the speed of the motor vehicle,
lf is a distance between a center of gravity and a front axle of the motor vehicle,
lr is a distance between the center of gravity and a rear axle of the motor vehicle,
Cf is a coefficient of cornering stiffness of front wheels of the motor vehicle,
Cr is a coefficient of cornering stiffness of rear wheels of the motor vehicle,
m is a mass of the motor vehicle,
δsafety is a maximum limit of a steering angle of the wheels of the motor vehicle,
ρmax is a maximum curvature of the path that the motor vehicle can follow,
{dot over (δ)}safety is a maximum limit of a steering speed of the wheels of the motor vehicle,
{dot over (ρ)}max is a maximum angular yaw rate that the motor vehicle can endure; and
calculating a second threshold of the at least one threshold by a second equation:, α
      min
    
    =
    
      max
      ⁡
      
        (
        
          
            1
            -
            
              
                
                  (
                  
                    
                      C
                      f
                    
                    +
                    
                      C
                      r
                    
                  
                  )
                
                
                  
                    C
                    f
                  
                  ⁢
                  
                    
                      C
                      r
                    
                    ⁡
                    
                      [
                      
                        
                          
                            (
                            
                              
                                l
                                f
                              
                              +
                              
                                l
                                r
                              
                            
                            )
                          
                          2
                        
                        +
                        
                          κ
                          ⁢
                          
                            
                          
                          ⁢
                          
                            V
                            2
                          
                        
                      
                      ]
                    
                  
                
              
              ⁢
              
                
                  M
                  
                    DB
                    ⁢
                    
                      
                    
                    ⁢
                    _
                    ⁢
                    
                      
                    
                    ⁢
                    sat
                    ⁢
                    
                      
                    
                    ⁢
                    _
                    ⁢
                    
                      
                    
                    ⁢
                    act
                  
                
                
                  ρ
                  max
                
              
            
          
          ,
          0
        
        )
      
    
  

  
    
      where
      :
      
        

      
      ⁢
      κ
    
    =
    
      m
      ⁡
      
        (
        
          
            
              l
              r
            
            
              C
              f
            
          
          -
          
            
              l
              f
            
            
              C
              r
            
          
        
        )
      
    
  

and where:
MDB_sat_act is the maximum yaw moment limit that can be imposed by the differential braking system,
ρmax is a maximum curvature of the path that the motor vehicle can follow, in which, when the first threshold is less than the second threshold:
the setpoint for controlling the steering system is chosen to be zero,
the setpoint for controlling the differential braking system is chosen to be zero, and
provision is made to generate a nonzero setpoint for controlling a conventional braking system of the motor vehicle.