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Model based predictive control for automated lane centering/changing control systems

  • US 8,190,330 B2
  • Filed: 03/06/2009
  • Issued: 05/29/2012
  • Est. Priority Date: 03/06/2009
  • Status: Expired due to Fees
First Claim
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1. A method for providing vehicle steering control in an autonomous or semi-autonomous vehicle driving system, said method comprising:

  • determining a lateral position of the vehicle, a lateral speed of the vehicle, a yaw rate of the vehicle and a yaw angle of the vehicle at a particular point in time or over a predetermined time period;

    determining roadway lane marking information of a roadway on which the vehicle is traveling;

    modeling the roadway using the roadway lane marking information, wherein modeling the roadway includes modeling the roadway as a second order polynomial equation;

    predicting a vehicle path using the roadway model;

    providing a desired vehicle path;

    comparing the predicted vehicle path and the desired vehicle path to generate a path error value; and

    generating a steering angle command based on the path error value where the steering angle command is determined by a function that includes the vehicle lateral position, vehicle lateral speed, vehicle yaw rate and vehicle yaw angle.

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