METHOD AND APPARATUS FOR CONTROLLING A VEHICLE COMPUTER MODEL IN AN AGGRESSIVE LIMIT-SEEKING MANNER

• US 20050125208A1
• Filed: 12/09/2003
• Published: 06/09/2005
• Est. Priority Date: 12/09/2003
• Status: Abandoned Application

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company), Ford Motor Company
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Boyd, Kenneth, Neal, Joseph
• Application Number:
  US10/707,368
• Publication Number:
  US 20050125208A1
• Time in Patent Office: Days
• US Class Current: 703/8
• CPC Class Codes: B60T 2210/24 Curve radius
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 2270/86 Optimizing braking by using ESP vehicle or tire model
• CPC Class Codes: B60T 8/885 using electrical circuitry
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0028 Mathematical models, e.g. for simulation
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165

Abstract

A simulation system (30) for simulating an operation of an automotive vehicle includes an input (34) providing vehicle information and path information and a controller (38) having a vehicle computer model therein. The controller (38) is programmed to determine a curvature of an intended path from the path information, determine a look ahead scale factor as a function of the intended path, determine a look ahead point as a function of the look ahead scale factor, determine a steering wheel angle input to the computer model by comparing the look ahead point and the intended path, operate the computer model with the steering wheel angle input, and generate an output in response to the vehicle model and the initial steering wheel input or the first steering wheel input.

Claims

1. A simulation system for simulating an operation of an automotive vehicle comprising:

an input providing vehicle information and path information;

a controller having a vehicle computer model therein, said controller programmed to determine a curvature of an intended path from the path information, determine a look ahead scale factor as a function of the intended path, determine a look ahead point as a function of the look ahead scale factor, determine a steering wheel angle input to the computer model by comparing the look ahead point and the intended path, operate the computer model with the steering wheel angle input, and generate an output in response to the vehicle model and the initial steering wheel input or the first steering wheel input.

2. A system as recited in claim 1 wherein the look ahead scale factor is directly proportional to a curvature of the intended path.

3. A system as recited in claim 1 wherein the look ahead scale factor is about 62 percent of a maximum scale factor.

4. A method of operating a vehicle computer model having vehicle information and path information therein comprising:

determining a curvature of an intended path from the path information;

determining a look ahead scale factor as a function of the intended path;

determining a look ahead point as a function of the look ahead scale factor;

determining a steering wheel angle input to the computer model by comparing the look ahead point and the intended path; and

operating the computer model with the steering wheel angle input.

5. A method as recited in claim 4 wherein the look ahead scale factor is directly proportional to a curvature of the intended path.

6. A method as recited in claim 4 wherein the look ahead scale factor is about 62 percent of a maximum scale factor.

7. A method of operating a vehicle computer model having vehicle information and path information therein comprising:

determining a curvature of an intended path from the path information;

determining a look ahead scale factor as a function of the intended path;

determining a look ahead point as a function of the look ahead scale factor;

when the vehicle is not on target, determining a steering wheel angle input to the computer model by comparing the look ahead point and the intended path;

operating the computer model with the steering wheel angle input; and

when the vehicle is on target, maintaining a previously determined steering wheel angle.

8. A method as recited in claim 7 wherein the look ahead scale factor is directly proportional to a curvature of the intended path.

9. A method as recited in claim 7 wherein the look ahead scale factor is about 62 percent of a maximum scale factor.