US 11,814,098 B2
Methods, systems, and apparatuses for identification and compensation of trailer impacts on steering dynamics for automated driving
Mohammadali Shahriari, Markham (CA); Amir Takhmar, Toronto (CA); Reza Zarringhalam, Whitby (CA); and Klaus Trangbaek, Moshav Ein Vered (IL)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Mar. 11, 2021, as Appl. No. 17/198,851.
Prior Publication US 2022/0289292 A1, Sep. 15, 2022
Int. Cl. B62D 13/02 (2006.01); B62D 5/04 (2006.01); B62D 15/02 (2006.01); B60D 1/24 (2006.01); B60W 30/12 (2020.01); B60D 1/62 (2006.01)
CPC B62D 13/025 (2013.01) [B60D 1/248 (2013.01); B62D 5/0463 (2013.01); B62D 15/025 (2013.01); B60D 1/62 (2013.01); B60W 30/12 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for adaptive control of a vehicle steering system having electronic power steering (EPS) comprising:
sending, by a steering control command disposed of in a vehicle, a torque control to the electronic power steering (EPS) that is based on input control signals from a vehicle trajectory control unit and an adaptive set of steering dynamic characteristics factors, wherein the adaptive set of steering dynamic characteristic factors comprise friction, spring, damping, and inertia factors that are used in determining an EPS damping factor when it is determined that the vehicle is coupled to a trailer engaging in a trailering action;
configuring the adaptive set of steering dynamics characteristics factors, to generate a control signal based on an algorithm using an adaptive factor that models steering dynamics impacted by the trailer while engaging in the trailering action;
modeling by the adaptive set of steering dynamics characteristics factors, an adaptive spring and damping factor modeled on a tongue weight of a trailer coupled to a hitch of the vehicle wherein the hitch reduces a force applied to a vehicle front axle;
determining, using the adaptive set of steering dynamics characteristics factors, a set of forces exhibited by the trailer coupled to the hitch of the vehicle comprising at least one lateral force affecting lateral dynamics of the vehicle and angular movement of the vehicle while engaging in the trailering action;
generating, based on the adaptive steering dynamics characteristics factors, the control signal for applying a torque-assist to the steering system, wherein the algorithm using the adaptive factor to compensate for at least one lateral force by a gain applied by the damping and spring factors is based on a torque force modeled by a transfer function that is at least proportional to the tongue weight; and
controlling the steering system based on the control signal.