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Preview lateral control for automated driving

a technology of lateral control and automatic driving, applied in the direction of vehicle position/course/altitude control, process and machine control, instruments, etc., can solve the problems of upcoming road changes, such as curves, banks, slopes, etc., and the most challenging situation for autonomously driven vehicle control

Active Publication Date: 2017-08-17
GM GLOBAL TECH OPERATIONS LLC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, upcoming road changes, such as curves, banks, slopes, etc., in the roadway are typically not fully processed in the control architecture for these systems.
For example, segments of a roadway that have sudden horizontal curvature changes are the most challenging situation for autonomously driven vehicle control.

Method used

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  • Preview lateral control for automated driving
  • Preview lateral control for automated driving
  • Preview lateral control for automated driving

Examples

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Embodiment Construction

[0018]The following discussion of the embodiments of the invention directed to a system and method that provide lateral steering control assist in an autonomously driven or semi-autonomously driven vehicle including providing a preview of upcoming road curvature, slopes and banks is merely exemplary in nature, and is in no way intended to limit the invention or its applications or uses. For example, the system and method of the invention may have application in other industries and for other types of conveyances.

[0019]As will be discussed in detail below, the present invention proposes a system and method for providing lateral steering control assist for vehicle steering in an autonomously or semi-autonomously driven vehicle that may be employed for lane centering, lane changing, lane following, collision imminent steering, etc., where the system and method provide preview information of upcoming road curves, banks and / or slopes. The system and method discloses herein may incorporat...

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Abstract

A method for providing vehicle lateral steering control. The method includes providing a mathematical model of vehicle dynamics that includes a state variable, a steering control variable and a future road disturbance factor that defines the upcoming road curvature, banks and slopes of the roadway. The method determines an optimal steering control signal that includes a feedback portion and a feed-forward portion, where the feed-forward portion includes the road disturbance factor. The method determines a state variable and a control variable for the current roadway curvature, bank and slope for stationary motion of the vehicle for constant speed, yaw rate and lateral velocity. The method then introduces a new state variable and control variable for dynamic vehicle motion for variable speed, yaw rate and lateral velocity that is a difference between the state and control variables for predicted future times and the steady state variables.

Description

BACKGROUND OF THE INVENTION[0001]Field of the Invention[0002]This invention relates generally to a system and method for providing lateral steering control assist for lane centering, lane keeping, lane changing, collision imminent steering, etc. in an autonomously driven or semi-autonomously driven vehicle and, more particularly, to a system and method for providing lateral steering control assist for lane centering, lane changing, lane keeping, lane following, a collision imminent steering, etc. in an autonomously driven or semi-autonomously driven vehicle, where the system and method provide a preview of upcoming curved, banked and / or sloped roadways.[0003]Discussion of the Related Art[0004]The operation of modern vehicles is becoming more autonomous, i.e., the vehicles are able to provide driving control with less driver intervention. Cruise control systems have been on vehicles for a number of years where the vehicle operator can set a particular speed of the vehicle, and the ve...

Claims

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Application Information

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Patent Type & Authority Applications(United States)
IPC IPC(8): B62D6/00G05D1/00G05D1/02
CPCB62D6/00G05D1/0088G05D1/021G05D1/0212G05D2201/0212B62D1/28B62D6/04B62D15/025
Inventor MOSHCHUK, NIKOLAI K.CHEN, SHIH-KENLITKOUHI, BAKHTIAR B.
Owner GM GLOBAL TECH OPERATIONS LLC
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