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Reduced lateral position deviation during automatic lane changes

A lane-changing, lateral technology, applied in the direction of automatic steering control components, electric steering mechanism, non-electric variable control, etc., can solve the problems that have not yet been realized, and achieve the effect of improving comfort and safety

Active Publication Date: 2022-04-29
ROBERT BOSCH GMBH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Fully autonomous driving is a goal, but not yet achieved

Method used

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  • Reduced lateral position deviation during automatic lane changes
  • Reduced lateral position deviation during automatic lane changes
  • Reduced lateral position deviation during automatic lane changes

Examples

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Embodiment Construction

[0014] Before any embodiments are explained in detail, it is to be understood that the disclosure is not intended to be limited in application to the details of construction and the arrangement of parts set forth in the following description or shown in the following drawings. Embodiments are capable of other configurations and of being practiced or carried out in various ways.

[0015] A number of hardware and software based devices and a number of different structural components may be used to implement the various embodiments. Furthermore, embodiments may include hardware, software, and electronic components or modules, which for discussion purposes may be shown and described as if most of the components were implemented in hardware only. However, those of ordinary skill in the art (and upon reading this detailed description) will appreciate that, in at least one embodiment, the electronic-based aspects of the invention may be software (e.g., stored in a non-transitory comp...

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Abstract

Methods and systems for controlling lane change maneuvers of an autonomous vehicle. The method includes detecting a feature of a road surface with a sensor, and determining, at an electronic processor, a crown of a target lane based on the feature. The target lane is the driving lane for the lane change maneuver by the autonomous vehicle. The method also includes determining a lateral compensating force based on the road crown, and applying, by the electronic processor, the lateral compensating force during the lane change maneuver.

Description

technical field [0001] Embodiments relate to control systems for autonomous vehicles. Background technique [0002] Modern vehicles include various automated driving features such as adaptive cruise control, lane change assist, collision avoidance systems, automatic parking, and similar functions. Fully autonomous driving is a goal, but not yet achieved. Contents of the invention [0003] Embodiments provide techniques for reducing lateral position deviations due to changes in road camber between an originating traffic lane and a target traffic lane during automatic lane changes. Road camber introduces lateral forces on vehicles performing lane changes. To maintain a specific trajectory during a lane change, compensating forces may be applied by the vehicle steering or trajectory control system to maintain trajectory during the lane change and to maintain the desired position within the target lane. The camber between lanes on a given road may differ substantially betwe...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/02B60W30/18B60W40/06B60W40/109B62D15/02B62D6/08G06V20/58G06V20/64G08G1/16
CPCB62D6/08G08G1/168B62D15/0225B62D15/0255B60W40/109B60W30/025B60W30/18163B60W40/06B60W2710/18B60W2720/125B60W2720/40B60W2710/20B60W2552/00G06V20/64G06V20/588B60W30/10G06V20/56B60W2552/20B60W2552/53B60W2420/403B60W30/02B60W30/0956B62D5/04B62D6/04B62D15/02
Inventor J.S.施特尼艾克
Owner ROBERT BOSCH GMBH