The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 18, 2014
Filed:
Jan. 31, 2011
Youssef A. Ghoneim, Rochester, MI (US);
Shih-ken Chen, Troy, MI (US);
Valery Pylypchuk, West Bloomfield, MI (US);
Nikolai K. Moshchuk, Grosse Point, MI (US);
Bakhtiar Brian Litkouhi, Washington, MI (US);
Youssef A. Ghoneim, Rochester, MI (US);
Shih-Ken Chen, Troy, MI (US);
Valery Pylypchuk, West Bloomfield, MI (US);
Nikolai K. Moshchuk, Grosse Point, MI (US);
Bakhtiar Brian Litkouhi, Washington, MI (US);
GM Global Technology Operations LLC, Detroit, MI (US);
Abstract
A method for allocating forces among the corners of a vehicle having a redundant actuator suite includes determining a set of desired forces at the center of gravity of the vehicle, and allocating the set of desired forces among the corners of the vehicle as virtual control commands using a controller. The method also includes mapping the virtual control commands at the corners to actual or true control commands at the corners, and controlling a plurality of actuators at the corners using the actual or true control commands. The actuators may include friction brakes and wheel motors. Mapping the virtual control commands may include using a Least Squares formulation. Control of the actuators may be prioritized with respect to each other using weighting matrices. A vehicle includes a controller having actuators and a controller configured for executing the above method.