Patent ID: 11891048
Assignee: RENAULT S.A.S.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 6:
7. The method as claimed in claim 6, in which said threshold is calculated by a first equation:, α
      max
    
    =
    
      min
      ⁡
      
        (
        
          
            
              
                
                  l
                  f
                
                ⁡
                
                  (
                  
                    
                      C
                      f
                    
                    +
                    
                      C
                      r
                    
                  
                  )
                
              
              
                
                  C
                  r
                
                ⁡
                
                  [
                  
                    
                      
                        (
                        
                          
                            l
                            f
                          
                          +
                          
                            l
                            r
                          
                        
                        )
                      
                      2
                    
                    +
                    
                      κ
                      ⁢
                      
                        
                      
                      ⁢
                      
                        V
                        2
                      
                    
                  
                  ]
                
              
            
            ⁢
            
              
                δ
                safety
              
              
                ρ
                max
              
            
          
          ,
          
            
              
                
                  l
                  f
                
                ⁡
                
                  (
                  
                    
                      C
                      f
                    
                    +
                    
                      C
                      r
                    
                  
                  )
                
              
              
                
                  C
                  r
                
                ⁡
                
                  [
                  
                    
                      
                        (
                        
                          
                            l
                            f
                          
                          +
                          
                            l
                            r
                          
                        
                        )
                      
                      2
                    
                    +
                    
                      κ
                      ⁢
                      
                        
                      
                      ⁢
                      
                        V
                        2
                      
                    
                  
                  ]
                
              
            
            ⁢
            
              
                
                  δ
                  .
                
                safety
              
              
                
                  ρ
                  .
                
                max
              
            
          
          ,
          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 the 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.