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Method for regulating the lateral position of a vehicle

An adjustment method, a technology of lateral position, applied to vehicle components, control devices, steering mechanisms, etc., to solve problems such as loss of grip, vehicle instability, and passenger anxiety

Pending Publication Date: 2022-02-15
RENAULT SA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These lateral accelerations can cause passenger anxiety and even cause vehicle instability or loss of grip

Method used

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  • Method for regulating the lateral position of a vehicle
  • Method for regulating the lateral position of a vehicle
  • Method for regulating the lateral position of a vehicle

Examples

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Embodiment Construction

[0037] figure 1 A motor vehicle 1 according to an embodiment of the invention is schematically shown. Vehicle 1 can be of any type. In particular, it may be, for example, a car, utility vehicle, truck or bus. The vehicle 1 has two steered front wheels 2f and two rear wheels 2r. The orientation of the steered wheels 2f can be controlled by the steering system 3 . The steering system 3 includes a steering device 4 mechanically connected to the two front wheels 2 f and a steering wheel 5 mechanically connected to the steering device 4 . The steering system can also include a power-assisted steering module, which is integrated, for example, in the steering device 4 . The steering system 3 also includes an electronic control unit 6 and a steering wheel angle sensor 7 . The steering wheel angle sensor 7 is able to measure the orientation of the steering wheel 7 . In particular, the steering wheel angle sensor can measure the angular position of a steering column connected to t...

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PUM

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Abstract

A method for regulating the lateral position of a vehicle (1) on a traffic lane (10) comprising: - a step (E21) of computing a reference state vector (Xref) of the vehicle; - a step (E22) of computing an observed state vector (Xobs) of the vehicle; - a step (E23) of computing a setpoint of a steering angle (delta c) of steering wheels (2f) of the vehicle as a function of the difference (Xerr) between the reference state vector (Xref) and the observed state vector (Xobs); - an initialisation step (E1) executed when the regulation method is activated, the initialisation step comprising a sub-step (E11) of computing a component (X07) of an initial observed state vector (X0) so that the steering angle (delta c) setpoint of the steering wheels is equal to a measured steering angle (delta m) value of the steering wheels.

Description

technical field [0001] The invention relates to a method for adjusting the lateral position of a vehicle, in particular an ego vehicle, on a roadway. The invention relates in particular to an initialization step performed when activating the regulation method. The invention also relates to a motor vehicle comprising hardware and / or software means for implementing such a method. Background technique [0002] Autonomous vehicles typically include computer-controlled steering systems. The steering system controls the orientation of the vehicle's steering wheels so that the vehicle autonomously follows a given trajectory. The computer implements an adjustment process that allows the lateral positioning of the vehicle on the roadway. In particular, the computer can implement an adjustment process known as LCA (Lane Centering Assist), which allows the vehicle to remain centered in its traffic lane. [0003] When such a process is activated during driving, the vehicle moves fro...

Claims

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Application Information

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IPC IPC(8): B60W30/095B60W30/10B60W30/12B62D15/02
CPCB60W30/095B60W30/10B60W30/12B62D15/025B60W2050/0071B60W2050/0096B60W2510/205B60W2510/10B60W2510/12B60W2520/14B60W2552/53B60W2540/18B60W2556/50B60W2710/207B60W2520/12B60W2520/10
Inventor M·佩雷特J·吕特S·萨利乌
Owner RENAULT SA
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