PATH GENERATION ALGORITHM FOR AUTOMATED LANE CENTERING AND LANE CHANGING CONTROL SYSTEM
First Claim
1. A system for determining a desired path for vehicle steering, said system comprising:
- a plurality of vehicle sensors and detectors for detecting a travel lane of a roadway that the vehicle is travelling in and providing lane identification signals;
a desired path generation processor responsive to the lane signals, a request for a lane change and a steering angle signal of the steering angle of the vehicle, said desired path generation processor generating a desired path of the vehicle and providing an output signal including a longitudinal distance that the lane change will take, a lateral distance that the lane change will take and an angle for the lane change;
a path prediction processor responsive to vehicle state signals including vehicle lateral speed, vehicle longitudinal speed, vehicle yaw-rate and steering angle, said path prediction processor predicting a path of the vehicle based on the lateral vehicle speed, the longitudinal vehicle speed, the vehicle yaw-rate and the steering angle, said path prediction processor providing an output signal identifying the predicted path of the vehicle; and
a comparator that compares the output signal from the desired path generation processor and the output signal from the path prediction processor and provides an error signal of the difference between the desired path and the predicted path of the vehicle.
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Abstract
A system for providing path generation for automated lane centering and/or lane changing purposes. The system includes a desired path generation processor that receives signals detecting the roadway on which the vehicle is traveling, a request for a lane change, vehicle state information and a steering angle of the vehicle. The system also includes a path prediction processor that predicts the vehicle path based on vehicle state information including vehicle longitudinal speed, vehicle lateral speed, vehicle yaw-rate and vehicle steering angle. The desired path information and the predicted path information are compared to generate an error signal that is sent to a lane change controller that provides a steering angle signal to turn the vehicle and reduce the error signal. The desired path generation processor can use a fifth order polynomial equation to determine the desired path of the vehicle based on the input signals.
92 Citations
20 Claims
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1. A system for determining a desired path for vehicle steering, said system comprising:
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a plurality of vehicle sensors and detectors for detecting a travel lane of a roadway that the vehicle is travelling in and providing lane identification signals; a desired path generation processor responsive to the lane signals, a request for a lane change and a steering angle signal of the steering angle of the vehicle, said desired path generation processor generating a desired path of the vehicle and providing an output signal including a longitudinal distance that the lane change will take, a lateral distance that the lane change will take and an angle for the lane change; a path prediction processor responsive to vehicle state signals including vehicle lateral speed, vehicle longitudinal speed, vehicle yaw-rate and steering angle, said path prediction processor predicting a path of the vehicle based on the lateral vehicle speed, the longitudinal vehicle speed, the vehicle yaw-rate and the steering angle, said path prediction processor providing an output signal identifying the predicted path of the vehicle; and a comparator that compares the output signal from the desired path generation processor and the output signal from the path prediction processor and provides an error signal of the difference between the desired path and the predicted path of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for determining a desired path for vehicle steering an autonomous or semi-autonomous vehicle, said system comprising:
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a plurality of vehicle sensors and detectors for detecting a travel lane of a roadway that the vehicle is traveling in and providing lane identification signals, said sensors also providing measurement and motion signals of vehicle speed and vehicle yaw-rate; a desired path generation processor responsive to the lane signals, a driver request for a lane change and a steering angle of the vehicle, said desired path generation processor generating a desired path of the vehicle and providing an output signal including a longitudinal distance that the lane change will take, a lateral distance that the lane change will take and an angle for the lane change, said desired path generation processor determining the desired path using a fifth order polynomial equation; a path prediction processor responsive to vehicle state signals including vehicle lateral speed, vehicle longitudinal speed, vehicle yaw-rate and vehicle steering angle, said path prediction processor predicting a path of the vehicle based on the lateral vehicle speed, the longitudinal vehicle speed, the vehicle yaw-rate and the steering angle, said path prediction processor providing an output signal identifying the predicted path of the vehicle; a comparator that compares the output signal from the desired path generation processor and the output signal from the path prediction processor and provides an error signal of the difference between the desired path and the predicted path of the vehicle; a lane change controller that is responsive to the error signal, said lane change controller providing the steering angle signal for steering the vehicle to minimize the error signal; and a vehicle steering control sub-system responsive to the steering angle signal from the lane change controller, said vehicle steering control sub-system using the steering angle signal to steer the vehicle. - View Dependent Claims (12, 13, 14, 15, 16)
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17. A system for determining a desired path for steering a vehicle, said system comprising:
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a plurality of vehicle sensors and detectors for detecting a travel lane of a roadway that the vehicle is traveling in and providing lane identification signals; and a desired path generation processor responsive to the lane signals, a request for a lane change and a steering angle signal of the steering angle of the vehicle, said desired path generation processor generating a desired path of the vehicle and providing an output signal including a longitudinal distance the lane change will take, a lateral distance that the lane change will take and an angle for the lane change, said desired generation processor determining the desired path using a fifth order polynomial equation. - View Dependent Claims (18, 19, 20)
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Specification