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Model based predictive control for automated lane centering/changing control systems

A model prediction, semi-automatic technology, applied in the direction of automatic steering control components, steering control installed on the vehicle, non-mechanical steering control components, etc., can solve the problem of system complexity of steering angle command

Active Publication Date: 2010-09-22
GM GLOBAL TECH OPERATIONS LLC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Systems known in the art for providing steering angle commands in automated vehicle systems are often complex

Method used

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  • Model based predictive control for automated lane centering/changing control systems
  • Model based predictive control for automated lane centering/changing control systems
  • Model based predictive control for automated lane centering/changing control systems

Examples

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Embodiment Construction

[0086] The following discussion of embodiments of the invention relating to systems and methods for providing vehicle steering angle control for lane alignment or lane changing purposes in automated or semi-automated vehicles is merely exemplary in nature and not intended to be limiting The invention or its application or use.

[0087] figure 1 is a diagram of a vehicle system 10 including a lane change adaptive cruise control (LXACC) core algorithm 12 including lane alignment and lane change control, which will be described in detail below. The known LXACC system provides a unified framework for automatic lateral movement control such as automatic lane changing and lane alignment functions. Since the lateral dynamics of the vehicle are related to the longitudinal movement of the vehicle, the longitudinal movement control is usually considered in the same framework.

[0088] The system 10 includes a forward-looking camera 14 and long-range and near-range radars 16 that detec...

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Abstract

A system and method for providing steering control for lane changing and lane centering purposes in an autonomous or semi-autonomous vehicle system. A vehicle vision system calculates roadway lane marking information, such as lateral offset, yaw angle and roadway curvature with respect to the vehicle's centered coordinate system. The roadway is then modeled as a second order polynomial equation. The method then predicts roadway lateral position and yaw angle over a pre-defined lane change completion time using a vehicle dynamic model. The method then compares a predicted vehicle path with a desired vehicle path to generate an error value, and calculates a steering angle command to minimize the error value, where the steering angle command is calculated as a function of vehicle lateral position, vehicle lateral speed, vehicle yaw rate and vehicle yaw angle. The steering angle command is then sent to the vehicle steering system.

Description

technical field [0001] The present invention relates generally to a system and method for providing steering angle control for lane alignment and lane changing in an autonomously driven vehicle, and more particularly, to a system in which the steering angle command is used as a vehicle lateral position, vehicle lateral velocity A system and method for providing steering angle control for lane alignment and lane changing in an autonomously driven vehicle, calculated as a simplified function of vehicle yaw rate and vehicle yaw angle. Background technique [0002] The operation of modern vehicles is becoming more and more automated, that is, the vehicle can provide drive control that requires less intervention from the driver. Cruise control systems have been used in vehicles for many years in which the driver of the vehicle can set a specific vehicle speed and the vehicle will remain at that speed without the driver operating the throttle. Adaptive cruise control systems have...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/12B62D6/00B62D133/00B62D111/00
CPCB62D15/0255B62D1/28
Inventor J·-W·李
Owner GM GLOBAL TECH OPERATIONS LLC
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