{
  "$type": "site.standard.document",
  "description": "An autonomous vehicle includes a system for operating the vehicle. A slip angle sensor measures a slip angle of a wheel of the autonomous vehicle. An accelerometer measures an acceleration of the autonomous vehicle. A steering actuator controls a steering angle of the autonomous vehicle. The…",
  "path": "/patents/1381013",
  "publishedAt": "2026-04-16T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/18172",
    "GM Global Technology Operations LLC"
  ],
  "textContent": "An autonomous vehicle includes a system for operating the vehicle. A slip angle sensor measures a slip angle of a wheel of the autonomous vehicle. An accelerometer measures an acceleration of the autonomous vehicle. A steering actuator controls a steering angle of the autonomous vehicle. The processor determines a road friction coefficient of the at a selected prediction step, calculates a normal force for the autonomous vehicle from the acceleration, determines a wheel stiffness for the wheel for the normal force at the slip angle using the road friction coefficient based on a tire model for the wheel, calculates a steering command for the autonomous vehicle using a model predictive control having the wheel stiffness as input, and controls the steering actuator using the steering command to steer the autonomous vehicle.",
  "title": "TIRE MODEL INCORPORATION TO LINEAR TIME VARYING MODEL PREDICTIVE CONTROL"
}