LANE-KEEPING ASSISTANCE METHOD FOR A MOTOR VEHICLE
First Claim
1. A lane-keeping method for a motor vehicle comprising:
- determining a transverse deviation and an misalignment angle of the motor vehicle relative to a target lane centerline;
calculating a reference track for the motor vehicle to follow to return to the centerline using the transverse deviation and the misalignment angle;
determining a reference yaw rate using a curvature of the reference track and a longitudinal speed of the vehicle;
comparing the reference yaw rate with an actual yaw rate of the vehicle to determine a control deviation; and
applying a steering input into a steering system of the motor vehicle to minimize the control deviation.
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Accused Products
Abstract
A lane-keeping method and system for a motor vehicle determines a transverse deviation and an misalignment angle of the motor vehicle relative to a target lane centerline, calculates a reference track for the motor vehicle to follow to return to the centerline using the transverse deviation and the misalignment angle, determines a reference yaw rate using a curvature of the reference track and a longitudinal speed of the vehicle, and compares the reference yaw rate with an actual yaw rate of the vehicle to determine a control deviation. A steering input is then applied to a steering system of the motor vehicle to minimize the control deviation.
34 Citations
17 Claims
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1. A lane-keeping method for a motor vehicle comprising:
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determining a transverse deviation and an misalignment angle of the motor vehicle relative to a target lane centerline; calculating a reference track for the motor vehicle to follow to return to the centerline using the transverse deviation and the misalignment angle; determining a reference yaw rate using a curvature of the reference track and a longitudinal speed of the vehicle; comparing the reference yaw rate with an actual yaw rate of the vehicle to determine a control deviation; and applying a steering input into a steering system of the motor vehicle to minimize the control deviation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A lane-keeping method for a motor vehicle comprising:
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determining a transverse deviation and an misalignment angle of the motor vehicle relative to a target lane centerline; calculating a reference track for the motor vehicle to follow to return to the centerline using the transverse deviation and the misalignment angle, the reference track being calculated such that at least one of an instantaneous curvature of the reference track and a curvature change rate of the reference track do not each exceed a pre-defined maximum value; determining a reference yaw rate using a curvature of the reference track and a longitudinal speed of the vehicle; comparing the reference yaw rate with an actual yaw rate of the vehicle to determine a control deviation; and determining a position of the motor vehicle relative to an intervention zone defined with reference to at least one of;
a lane width, a lane-related transverse speed of the motor vehicle, the longitudinal speed, a curvature of the target lane centerline, and a direction of deviation from the target lane centerlineif and only if the vehicle is within the intervention zone, applying a steering input into a steering system of the motor vehicle to minimize the control deviation. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A lane-keeping assistance system for a motor vehicle comprising:
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a lane detection sensor determining a transverse deviation and an misalignment angle of the motor vehicle relative to a target lane centerline; a speed sensor generating a signal indicating a longitudinal speed of the vehicle; a yaw rate sensor generating a signal indicating an actual yaw rate of the vehicle; a controller operative to;
(a) calculate a reference track for the motor vehicle to follow to return to the centerline using the transverse deviation and the misalignment angle, (b) determine a reference yaw rate using a curvature of the reference track and the longitudinal speed signal, and (c) compare the reference yaw rate with the actual yaw rate signal to determine a control deviation; anda steering actuator commanded by the controller to apply a steering input into a steering system of the motor vehicle to minimize the control deviation. - View Dependent Claims (17)
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Specification