Patent ID: 9156447
Filing Date: 2015-10-13
Classification: B60T,B60W,B62D

Abstract:
1. A vehicle control method comprising: defining a set of predetermined driver action lines relating to the motion of a vehicle with respect to a surface, wherein the set of predetermined driver action lines are based in part on a maximum lateral acceleration capability of the vehicle and a maximum longitudinal acceleration capability of the vehicle; defining a set of vehicle actions associated with the set of predetermined driver action lines, wherein the vehicle actions each specify at least one of a steering action and a braking action; determining friction data indicative of a frictional attribute of a contact region between the vehicle and the surface; modifying the set of predetermined driver action lines based on the friction data; controlling the vehicle in accordance the set of vehicle actions and the first predetermined driver action line; re-determining the friction data based on the dynamic behavior of the vehicle while controlling the vehicle; and modifying the set of predetermined driver action lines based on the re-determined friction data.