Abstract: A vehicle, system and method of operating a vehicle. A sensor for measures a dynamic variable of the vehicle. A processor determines a location of a perceived yaw center (PYC) of the vehicle from the dynamic variable, tracks a desired location of the PYC, and adjusts a control parameter of the vehicle to reduce a difference between the location of the PYC and the desired location of the PYC.

Abstract: A vehicle including an advanced driver-assistance system (ADAS) and operator-adjustable devices is described. Controlling the vehicle includes identifying a vehicle operator, and capturing a plurality of operator-selectable settings associated with the plurality of operator-adjustable devices for the vehicle operator. A base profile and a second profile are determined for the vehicle operator based upon the first subset associated with non-autonomous operation of the vehicle and the second subset associated with ADAS, respectively. The plurality of operator-adjustable devices are controlled to the operator-selectable settings associated with the base profile when the vehicle is operating in the non-autonomous mode, and the plurality of operator-adjustable devices are controlled to the operator-selectable settings associated with the second profile when the vehicle is being controlled at least in part by one or more of the subsystems of the ADAS.

Abstract: A system and method for determining a roadway bank angle based on vehicle information. The method may include the steps of: obtaining vehicle information from at least one vehicle, the vehicle information is obtained from at least one of a global navigational satellite system (GNSS) receiver and one or more onboard vehicle sensors, and the GNSS receiver and the one or more onboard vehicle sensors are installed in the at least one vehicle; performing a roadway bank angle determination process using the obtained vehicle information to obtain a roadway bank angle; and updating a representative roadway bank angle based on the roadway bank angle.

Abstract: A method and system of controlling a vehicle includes providing a plurality of dynamic state inputs to a controller in the vehicle that is adapted to execute a plurality of control loops and further includes determining an operating mode of the vehicle. Based on the operating mode of the vehicle, a location of an optimum perceived yaw center of the vehicle is determined corresponding to a selected estimation technique using the dynamic state inputs and wherein the estimation technique is selected based upon the determined operating mode of the vehicle. The information related to the location of the optimum perceived yaw center may be used as input for controlling the vehicle in a dynamic state.

Abstract: A vehicle, system and method of operating a vehicle. A sensor for measures a dynamic variable of the vehicle. A processor determines a location of a perceived yaw center (PYC) of the vehicle from the dynamic variable, tracks a desired location of the PYC, and adjusts a control parameter of the vehicle to reduce a difference between the location of the PYC and the desired location of the PYC.

Abstract: A vehicle, system and method of operating the vehicle. A sensor measures a dynamic parameter of the vehicle. A processor determines a lateral force on a first tire based on the dynamic parameter of the vehicle, determines a longitudinal force on the first tire that achieves a maximal grip of the first tire for the lateral force, and adjusts a first torque on the first tire in order to achieve the determined longitudinal force at the first tire.

Abstract: A method of controlling stability of a vehicle and a stability control system for the vehicle. A driver command is determined based on driver input data. At least one output command is sent to one or more vehicle systems to control stability of the vehicle based on the driver command. A controller sends the output command based on a control hierarchy that provides an order in which the controller controls body motion of the vehicle, wheel slip of the vehicle, and standard stability of the vehicle to control stability of the vehicle. The order dictates that the controller controls the body motion of the vehicle and the wheel slip of the vehicle before the controller controls the standard stability of the vehicle. A state of one or more of the vehicle systems is controlled based on the sent output command as dictated via the control hierarchy.

Abstract: A method and associated system for selecting a charging station for a subject vehicle is described, and includes determining a state of charge of an on-vehicle DC power source arranged to supply electric power to a propulsion system for the subject vehicle. A travel route to a destination point is determined, and locations of a plurality of charging stations proximal to the travel route are identified. Desired states and corresponding weighting factors for a plurality of user-selectable parameters are determined, and a sorting routine is executed to rank the plurality of charging stations proximal to the travel route based upon the desired states and corresponding weighting factors for the plurality of user-selectable parameters and the state of charge of the on-vehicle DC power source. One of the charging stations is selected based upon the ranking, and a charging reservation is scheduled.

Abstract: A method for evaluating a travel surface proximal to the vehicle is described, and includes generating, by the LiDAR sensor, a plurality of light pulses and capturing, by the LiDAR sensor, returned light data for the plurality of light pulses, wherein the light pulses are projected into a region of interest that includes the travel surface proximal to the vehicle, determining a multi-level image file based upon the returned light data for the plurality of light pulses, generating a trained classification model, and classifying the travel surface as one of a plurality of travel surface states based upon the multi-level image file and the trained classification model. Operation of the vehicle is controlled based upon the classifying of the travel surface.

Abstract: Methods of controlling axle torque distribution of a vehicle during steering through a curve include collecting, via a controller: input data which is representative of a plurality of vehicle inputs; vehicle data which is representative of axle torque of the front axle and axle torque of the rear axle; and constraint data which is representative of real-time constraints of the vehicle. The collected input data, vehicle data and constraint data are communicated to a predictive model. Determining, using the predictive model, whether torque adjustments are necessary. The distribution of the axle torque of the front axle and the axle torque of the rear axle is controlled, via the controller, when the torque adjustments are necessary as determined via the predictive model.

Abstract: A method for estimation of a vehicle tire force includes: receiving, by a controller of a vehicle, a measured vehicle acceleration of the vehicle; receiving, by the controller, a measured wheel speed and a measured yaw rate of the vehicle; forming, by the controller, inertia matrices based on an inertia of rotating components of the vehicle; calculating torques at corners of the vehicle using the inertia matrices; estimating tire forces of the vehicle based on the measured vehicle acceleration, the measured wheel speed, and the inertia matrices; and controlling, by the controller, the vehicle, based on the plurality of estimated longitudinal and lateral tire forces.

Abstract: Systems and methods are provided for generating adapted tuning parameters for target slip estimation, the parameters being adapted to real-time road surface conditions. The method includes, receiving, from a road surface detection module, a road surface condition, Sn, from among N road surface conditions S, range of friction, mu, and a confidence level, Ci. The method receives sensor system data from a sensor system, and determines, as a function of Sn, range of mu, and Ci, initial estimator values including an estimated initial frictional force {circumflex over (?)}(0), an initial gain, P0, and an initial projected range of signal bounds, (Pu) and (Pl). The method tunes (i.e., adapts) the initial estimator values to generate therefrom adapted tuning parameters based on received inputs. The method outputs adapted tuning parameters.

Abstract: Examples of techniques for controlling a vehicle based on trailer position are disclosed. In one example implementation according to aspects of the present disclosure, a computer-implemented method includes extracting, by a processing device, a feature point on a trailer from an image captured by a camera associated with a vehicle, the trailer being coupled to the vehicle. The method further includes determining, by the processing device, a distance between the feature point on the trailer and a virtual boundary. The method further includes, responsive to determining that the distance between the feature point on the trailer and the virtual boundary is less than a threshold, controlling, by the processing device, the vehicle to cause the distance between the feature point on the trailer and the virtual boundary to increase.

Abstract: Examples of techniques for controlling a vehicle based on trailer sway are disclosed. In one example implementation according to aspects of the present disclosure, a computer-implemented method includes estimating, by a processing device, an estimated articulation angle between a vehicle and a trailer coupled to the vehicle. The method further includes calculating, by the processing device, an expected articulation angle between the vehicle and the trailer. The method further includes comparing, by the processing device, the estimated articulation angle and the expected articulation angle to determine whether the trailer is experiencing trailer sway. The method further includes, responsive to determining that the trailer is experiencing sway, controlling, by the processing device, the vehicle to reduce the trailer sway.

Abstract: Systems and methods are provided for generating adapted tuning parameters for target slip estimation, the parameters being adapted to real-time road surface conditions. The method includes, receiving, from a road surface detection module, a road surface condition, Sn, from among N road surface conditions S, range of friction, mu, and a confidence level, Ci. The method receives sensor system data from a sensor system, and determines, as a function of Sn, range of mu, and Ci, initial estimator values including an estimated initial frictional force {circumflex over (?)}(0), an initial gain, P0, and an initial projected range of signal bounds, (Pu) and (Pl). The method tunes (i.e., adapts) the initial estimator values to generate therefrom adapted tuning parameters based on received inputs. The method outputs adapted tuning parameters.

Abstract: A vehicle including an advanced driver-assistance system (ADAS) and operator-adjustable devices is described. Controlling the vehicle includes identifying a vehicle operator, and capturing a plurality of operator-selectable settings associated with the plurality of operator-adjustable devices for the vehicle operator. A base profile and a second profile are determined for the vehicle operator based upon the first subset associated with non-autonomous operation of the vehicle and the second subset associated with ADAS, respectively. The plurality of operator-adjustable devices are controlled to the operator-selectable settings associated with the base profile when the vehicle is operating in the non-autonomous mode, and the plurality of operator-adjustable devices are controlled to the operator-selectable settings associated with the second profile when the vehicle is being controlled at least in part by one or more of the subsystems of the ADAS.

Abstract: A vehicle subsystem includes an on-vehicle camera that is disposed to monitor a field of view (FOV) that includes a travel surface for the vehicle. A controller captures, via the on-vehicle camera, an image file associated with the FOV and segments the image file into a first set of regions associated with the travel surface and a second set of regions associated with an above-horizon portion. Image features on each of the first set of regions and the second set of regions are extracted and classified. A surface condition for the travel surface for the vehicle is identified based upon the classified extracted image features from each of the first set of regions and the second set of regions. Operation of the vehicle is controlled based upon the identified surface condition.

Abstract: A device includes a body operatively connected to a plurality of wheels, with the plurality of wheels being positioned relative to a banked surface defining a bank angle (?). A suspension system includes at least one suspension sensor configured to provide suspension displacement data. A controller is in communication with the at least one suspension sensor and has a processor and tangible, non-transitory memory on which is recorded instructions. The controller is configured to obtain the suspension displacement data and determine a roll angle (?) based at least partially on the suspension displacement data. The bank angle (?) is determined based at least partially on the roll angle (?), a yaw rate (r), a longitudinal velocity (Vx) and a plurality of predetermined parameters. Operation of the device is controlled based partly on at least one of the roll angle (?) and the bank angle (?).

Abstract: A method and system of controlling a vehicle includes providing a plurality of dynamic state inputs to a controller in the vehicle that is adapted to execute a plurality of control loops and further includes determining an operating mode of the vehicle. Based on the operating mode of the vehicle, a location of an optimum perceived yaw center of the vehicle is determined corresponding to a selected estimation technique using the dynamic state inputs and wherein the estimation technique is selected based upon the determined operating mode of the vehicle. The information related to the location of the optimum perceived yaw center may be used as input for controlling the vehicle in a dynamic state.

Abstract: A vehicle, and a method and system for operating the vehicle. The system includes a processor. The processor receives a driver input at the vehicle, determines a current lateral force on a tire of the vehicle for the driver input, determines a desired yaw rate and lateral velocity for the vehicle based on the current lateral force on the tire that operates the vehicle at a maximum yaw moment, and operates the vehicle at the desired yaw rate and lateral velocity.