Method and apparatus for preview-based vehicle lateral control

Abstract

A vehicle lateral control system that integrates both vehicle dynamics and kinematics control. The system includes a driver interpreter that provides desired vehicle dynamics and predicted vehicle path based on driver input. Error signals between the desired vehicle dynamics and measured vehicle dynamics, and between the predicted vehicle path and the measured vehicle target path are sent to dynamics and kinematics control processors for generating a separate dynamics and kinematics command signals, respectively, to minimize the errors. The command signals are integrated by a control integration processor to combine the commands to optimize the performance of stabilizing the vehicle and tracking the path. The integrated command signal can be used to control one or more of front wheel assist steering, rear-wheel assist steering or differential braking.

Description

BACKGROUND OF THE INVENTION [0001] 1. Field of the Invention [0002] This invention relates generally to a system for providing vehicle lateral stability control and, more particularly, to a system for providing vehicle lateral stability control that integrates vehicle dynamics control from sensor measurements and target path projections, and path tracking control that integrates vehicle kinematics control with vehicle dynamics control. [0003] 2. Discussion of the Related Art [0004] Vehicle dynamics typically refers to the yaw, side-slip and roll of a vehicle and vehicle kinematics typically refers to vehicle path and lane tracking. Vehicle stability control systems are known in the art for providing stability control based on vehicle dynamics. Further, lane keeping and / or lane tracking systems are known that use vehicle kinematics. If the vehicle is traveling along a curve where the road surface has a low coefficient of friction because of ice or snow, vehicle dynamics and kinematic...

AI Technical Summary

Problems solved by technology

However, driver response and style vary greatly, and there is no reliable way to identify the driving skill level and the driving style to determine how the driver is handling a particular driving situation.

Further, during a path tracking maneuver, the vehicle may encounter stability problems because of sensor data quality, such as noise, slow through-put and possible environmental disturbances.

Also, because the road surface condition is unknown, and typically is not considered for path-tracking control, the same control design for a high coefficient of friction surface may generate a significant vehicle oscillation or even instability for a vehicle traveling on a low coefficient of friction surface.

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