Abstract: A method to control a vehicle including control of regenerative brakes and friction brakes includes monitoring a desired corner force and moment distribution, monitoring real-time actuator constraints including a braking torque limit of each of the regenerative brake, determining a regenerative braking torque for each of the regenerative brakes based upon the desired corner force and moment distribution and the real-time actuator constraints, determining a friction braking torque for each of the friction brakes based upon the desired corner force and moment distribution and the determined regenerative braking torque for each of the regenerative brakes, and controlling the vehicle based upon the determined regenerative braking torques and the determined friction braking torques.

Abstract: A method to control a vehicle having a plurality of wheels includes monitoring desired vehicle dynamics, determining a desired corner force and moment distribution based upon the desired vehicle dynamics and a real-time closed form dynamics optimization solution, and controlling the vehicle based upon the desired corner force and moment distribution. The real-time closed form dynamics optimization solution is based upon a minimized center of gravity force error component, a minimized control energy component, and a maximized tire force reserve component.

Abstract: An adaptive steering control system is provided for a motor vehicle. The system includes, but is not limited to a sensor for detecting a current value of an operation quantity of a steering wheel, an actor for turning steered wheels and a controller for selecting, according to the speed of the vehicle, a map (g1, g2) assigning to a detected current value of the operation quantity a setpoint value of the operation quantity for the actor, and for issuing a setpoint signal to the actor. The controller is adapted to decide whether the vehicle is in a state of motion requiring a high level of attention from the driver or not, to inhibit a switchover of the map (g1, g2) while the vehicle is in the high attention-requiring state, and to allow such a switchover while the vehicle is not in the high attention-requiring state.

Abstract: A method to control a vehicle includes monitoring desired vehicle force and moment, monitoring real-time corner constraints upon vehicle dynamics which includes monitoring corner states of health for the vehicle, and monitoring corner capacities for the vehicle. The method further includes determining a desired corner force and moment distribution based upon the desired vehicle force and moment and the real-time corner constraints, and controlling the vehicle based upon the desired corner force and moment distribution.

Abstract: A motor vehicle is provided that has an engine, front and rear wheels and a clutch system for selectively distributing engine torque to the front and rear wheels. A controller judges in real time the state of motion of the vehicle and controls the torque distribution by the clutch system according to the judged state.

Abstract: A method and an apparatus are disclosed for estimating a road surface friction between a road surface and a tire of a vehicle. The method includes, but is not limited to computing, in a slope estimation step, a slope estimate k_sl for a slope of a linear region of a self aligning torque function that is defined by a self aligning torque as a function of a slip angle. The method further includes, but is not limited to deriving a first estimate ?_sl of a road friction coefficient from the slope estimate k_sl, and deciding, in a linearity estimation step, whether a current slope k_op is within the linear region of the self aligning torque function. If it is decided in the linearity estimation step that the current slope k_op is within the linear region of the self aligning torque function, the first estimate ?_sl of the road friction coefficient is output as a second estimate ?_cont of the road friction coefficient.

Abstract: A method is provided for controlling at least one active subsystem in a motor vehicle. The method includes, but is not limited to the steps of repeatedly collecting vehicle motion data (ai, vi, i=1, . . . ), selecting a setting for at least one operating parameter of the active subsystem based on the collected vehicle motion data, judging, based on said collected vehicle motion data, whether the vehicle is in an urban environment or not. When selecting said setting, vehicle motion data (ai, vi, i=1, . . . ) collected while the vehicle is judged to be in an urban environment are disregarded.

Abstract: A method is provided for jointly controlling a plurality n, n being an integer greater than 1, of devices connected to a same communication channel, each of said devices Dl, l=1, . . . , n, being capable of assuming a number ml of states. The method includes, but is not limited to unambiguously assigning to each combination of states of said n devices an integer code number M, wherein M ? [ x , x + ? l = 1 n ? ? m l [ , x being an arbitrary number, for a combination of states to be set in the devices, selecting the code number M assigned to said combination (m5), roadcasting (m2) said code number M to all devices Dl, l=1, . . . , n via said communication channel;decoding (s2), in each device, the state to be set in that device from said code number M; setting (s3) the decoded state in each device.

Abstract: An integrated vehicle control system includes a first control system having a maximum authority to selectively operate a first vehicle sub-system and a second control system to selectively operate a second vehicle sub-system. A controller is adapted to monitor a first parameter associated with the first vehicle sub-system and a second parameter associated with the second vehicle sub-system. The controller is operable to control the first and second parameters by selectively invoking operation of the second control system when the first control system exceeds the maximum authority and the second parameter exceeds an upper threshold.

Abstract: A method for assisting a driver of a motor vehicle is provided that includes, but is not limited to monitoring at least one quantity selected among vehicle sideslip, yaw rate error, understeer and quantities correlated to vehicle sideslip, yaw rate error or understeer, deciding that there is a risk of the vehicle becoming unstable if any of the monitored quantities or a quantity derived from one or more of the monitored quantities exceeds a predetermined first threshold, and if it is decided that there is a risk, issuing a warning signal.

Abstract: A method is provided for assisting the driver of a motor vehicle that includes, but is not limited to estimating a maximum safe amount of lateral acceleration based on one or more of detected vehicle lateral acceleration, yaw rate, vehicle longitudinal speed and steering wheel angle, calculating a longitudinal vehicle speed to produce a lateral acceleration equal to said maximum safe amount, and displaying a recommended longitudinal vehicle speed to the driver.

Abstract: A motor vehicle is provided that has an engine, front and rear wheels and a clutch system for selectively distributing engine torque to the front and rear wheels. A controller judges in real time the state of motion of the vehicle and controls the torque distribution by the clutch system according to the judged state.

Abstract: An adaptive steering control system is provided for a motor vehicle. The system includes, but is not limited to a sensor for detecting a current value of an operation quantity of a steering wheel, an actor for turning steered wheels and a controller for selecting, according to the speed of the vehicle, a map (g1, g2) assigning to a detected current value of the operation quantity a setpoint value of the operation quantity for the actor, and for issuing a setpoint signal to the actor. The controller is adapted to decide whether the vehicle is in a state of motion requiring a high level of attention from the driver or not, to inhibit a switchover of the map (g1, g2) while the vehicle is in the high attention-requiring state, and to allow such a switchover while the vehicle is not in the high attention-requiring state.

Abstract: A suspension control system for a motor vehicle having a chassis and wheels connected to the chassis by a suspension system the stiffness of which is variable under the control of the suspension control system comprises a controller adapted to modify autonomously the stiffness of the suspension system depending on a current state of motion of the vehicle.

Abstract: A method is provided for controlling at least one active subsystem in a vehicle chassis. The method includes, but is not limited to the steps of evaluating a driver's driving style based on data (ax(K), ay(K)) representative of acceleration of the vehicle and setting an operating state of the subsystem according to the driving style.

Abstract: A method is provided for controlling at least one setting parameter in at least one active subsystem in a vehicle chassis. The method includes, but is not limited to the steps of identifying the driver and selecting the decision function associated to the identified driver from a set of predetermined decision functions, determining one or more operating parameters of the vehicle, evaluating the decision function which yields a value of the setting parameter corresponding to the determined operating parameters, and setting the value in said subsystem.

Abstract: An active front wheel steering control system for a vehicle that includes a first control sub-system that provides AFS oversteer control to control the angle of the front wheels during an oversteer condition, and a second control sub-system that provides AFS understeer control to control the angle of the front wheels during an understeer condition. A controller monitors a first parameter as an oversteer flag associated with the first control sub-system and a second parameter as an understeer flag associated with the second control sub-system.

Abstract: A vehicle comprises a semi-active suspension including controllably adjustable suspension dampers. Open loop and closed loop damper commands are determined for each damper and, depending upon turning direction and damper motion, each damper is controlled with one of the open loop and closed loop damper commands.

Abstract: A vehicle includes a plurality of sub-systems and corresponding controllers for effecting normal control thereover. The vehicle further includes a vehicle dynamics controller for providing high-priority sub-system commands for sub-system control to effect vehicle dynamics enhancements. The vehicle dynamics controller includes a plurality of independently decomposable and recomposable software components or layers and accessible inter-layer bus structure.

Abstract: A control system for warning a following vehicle of a potential collision with a leading vehicle. The leading vehicle includes a detection system for detecting the presence and velocity of the following vehicle. The control system determines a desired distance between the leading vehicle and the following vehicle based on the speed of the leading vehicle. The control system subtracts the desired distance from the actual distance to generate a distance error signal, and compares the distance error signal to a threshold. If the error signal is greater than the threshold, the control system may provide one or more operations, such as flashing hazard lights to warn the following vehicle, or taking other course of action in the event of an imminent collision, such as pre-tensioning seat belts and closing windows of the leading vehicle.