Abstract: Methods and systems are described for controlling a vehicle braking system. A braking force is applied to the vehicle by applying friction only braking to the wheels of one axle and applying a blended braking force (including a regenerative braking force and a friction braking force) to the wheels of another axle. Using vehicle and tire modeling techniques, a set of side-slip angles is calculated that is estimated to occur if the total braking force were applied using only friction braking. A compensatory yaw moment is then determined based on differences between the estimated side-slip angles and the actual side-slip angles of the vehicle under the blended braking. The compensatory yaw moment is then applied to the vehicle to enable the vehicle to utilize regenerative braking while exhibiting the same vehicle dynamics that occur when using friction braking only.

Abstract: Methods and systems are described for controlling a vehicle braking system. A braking force is applied to the vehicle by applying friction only braking to the wheels of one axle and applying a blended braking force (including a regenerative braking force and a friction braking force) to the wheels of another axle. Using vehicle and tire modeling techniques, a set of side-slip angles is calculated that is estimated to occur if the total braking force were applied using only friction braking. A compensatory yaw moment is then determined based on differences between the estimated side-slip angles and the actual side-slip angles of the vehicle under the blended braking. The compensatory yaw moment is then applied to the vehicle to enable the vehicle to utilize regenerative braking while exhibiting the same vehicle dynamics that occur when using friction braking only.

Abstract: A rear wheel steering system in a vehicle. The system includes a rear wheel steering actuator, a vehicle speed sensor, and an electronic control unit. The rear wheel steering actuator is coupled to a rear wheel of the vehicle and controls a steering angle of the rear wheel. The electronic control unit is coupled to the rear wheel steering actuator and the vehicle speed sensor and is configured to determine a speed of the vehicle and to limit the steering angle of the rear wheel based on the speed of the vehicle and a fault tolerant time of the rear wheel steering system.

Abstract: A rear wheel steering system in a vehicle. The system includes a rear wheel steering actuator, a vehicle speed sensor, and an electronic control unit. The rear wheel steering actuator is coupled to a rear wheel of the vehicle and controls a steering angle of the rear wheel. The electronic control unit is coupled to the rear wheel steering actuator and the vehicle speed sensor and is configured to determine a speed of the vehicle and to limit the steering angle of the rear wheel based on the speed of the vehicle and a fault tolerant time of the rear wheel steering system.