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

Claim 6:
7. A method for operating a vehicle including a propulsion system, the method comprising:
receiving, via a controller, vehicle operating parameters and input commands, including receiving a vehicle yaw rate, receiving a vehicle longitudinal speed, and receiving an operator command for vehicle steering, wherein receiving the operator command for vehicle steering includes receiving a front wheel steering angle and a rear wheel steering angle
receiving, via the controller, a driver-selectable mode;
determining, via the controller, 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;
determining a desired future longitudinal acceleration horizon based upon the vehicle operating parameters and the input commands;
determining 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;
determining a desired future lateral speed horizon based upon the vehicle operating parameters and the input commands;
determining weighting factors for the desired future longitudinal acceleration horizon, the desired future yaw rate horizon, and the desired future lateral speed horizon based upon the driver-selectable mode; and
controlling, via the controller, operation of the propulsion system based upon the determined desired future trajectory, the desired future longitudinal acceleration horizon, the desired future yaw rate horizon, the desired future lateral speed horizon, and the weighting factors.