Vehicle lateral control system
First Claim
1. A vehicle lateral control system for a vehicle, said system comprising:
- a driver steering intent sensor for providing a driver steering intent signal;
a yaw rate sensor for providing a measured yaw rate signal of the yaw rate of the vehicle;
a lateral acceleration sensor for providing a measured lateral acceleration signal of the lateral acceleration of the vehicle;
a vehicle speed sensor for providing a measured speed signal of the speed of the vehicle;
a target path sub-system for providing a target path signal indicative of a path of the vehicle;
a command interpreter processor responsive to the driver steering intent signal and generating a desired yaw rate signal or a desired side-slip signal;
a first subtractor responsive to the desired yaw signal and the measured yaw rate signal or the desired side-slip signal and a side-slip estimation signal, said first subtractor generating a dynamical error signal;
a motion/path prediction processor responsive to the driver steering intent signal and generating a predicted path signal of the predicted path of the vehicle;
a second subtractor responsive to the predicted path signal and the target path signal, and generating a kinematical error signal;
a dynamics control processor responsive to the dynamical error signal and generating a dynamics control command signal;
a kinematics control processor responsive to the kinematical error signal and generating a kinematics control command signal; and
a control integration processor responsive to the dynamics control command signal and the kinematics control command signal, said control integration processor integrating the dynamics control command signal and the kinematics control command signal into an integrated control command signal, wherein the integrated control command signal can be used to control front-wheel assist steering, rear-wheel assist steering and/or differential braking.
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Accused Products
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.
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Citations
16 Claims
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1. A vehicle lateral control system for a vehicle, said system comprising:
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a driver steering intent sensor for providing a driver steering intent signal; a yaw rate sensor for providing a measured yaw rate signal of the yaw rate of the vehicle; a lateral acceleration sensor for providing a measured lateral acceleration signal of the lateral acceleration of the vehicle; a vehicle speed sensor for providing a measured speed signal of the speed of the vehicle; a target path sub-system for providing a target path signal indicative of a path of the vehicle; a command interpreter processor responsive to the driver steering intent signal and generating a desired yaw rate signal or a desired side-slip signal; a first subtractor responsive to the desired yaw signal and the measured yaw rate signal or the desired side-slip signal and a side-slip estimation signal, said first subtractor generating a dynamical error signal; a motion/path prediction processor responsive to the driver steering intent signal and generating a predicted path signal of the predicted path of the vehicle; a second subtractor responsive to the predicted path signal and the target path signal, and generating a kinematical error signal; a dynamics control processor responsive to the dynamical error signal and generating a dynamics control command signal; a kinematics control processor responsive to the kinematical error signal and generating a kinematics control command signal; and a control integration processor responsive to the dynamics control command signal and the kinematics control command signal, said control integration processor integrating the dynamics control command signal and the kinematics control command signal into an integrated control command signal, wherein the integrated control command signal can be used to control front-wheel assist steering, rear-wheel assist steering and/or differential braking. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A vehicle lateral control system for a vehicle, said system comprising:
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a hand-wheel angle sensor for providing a driver steering intent signal; a yaw rate sensor for providing a measured yaw rate signal of the yaw rate of the vehicle; a lateral acceleration sensor for providing a measured lateral acceleration signal of the lateral acceleration of the vehicle; a vehicle speed sensor for providing a measured speed signal of the speed of the vehicle; a target path sub-system for providing a target path signal indicative of a path of the vehicle; a command interpreter processor responsive to the driver steering intent signal and generating a desired yaw rate signal or desired side-slip signal; a first subtractor responsive to the desired yaw rate signal and the measured yaw rate signal or the desired side-slip signal and a side-slip estimation signal, and generating a dynamical error signal; a motion/path prediction processor responsive to the driver steering intent signal and generating a predicted path signal of the predicted path of the vehicle, said motion/path prediction processor including a vehicle dynamics estimation processor and a vehicle kinematics estimation processor, said vehicle dynamic estimation processor generating a vehicle state variable signal based on vehicle lateral velocity and vehicle yaw rate, and said vehicle kinematics estimation processor generating the predicted path signal based on the vehicle state variable signal; a second subtractor responsive to the predicted path signal and the target path signal, and generating a kinematical error signal; a dynamics control processor responsive to the dynamical error signal and generating a dynamics control command signal; a kinematics control processor responsive to the kinematical error signal and generating a kinematics control command signal; a control integration processor responsive to the dynamics control command signal and the kinematics control command signal, said control integration processor integrating in the dynamics control command signal and the kinematics control command signal into an integrated control command signal; and an actuator responsive to the integrated command signal from the control integration processor for controlling the vehicle, wherein the integrated control command signal can be used to control front-wheel assist steering, rear-wheel assist steering and/or differential braking. - View Dependent Claims (13, 14, 15, 16)
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Specification