Function decomposition and control architecture for complex vehicle control system
First Claim
1. A vehicle control architecture comprising:
- a vehicle/environment sensing and perception processor providing processed sensor signals;
a first motion planning processor responsive to the processed sensor signals from the vehicle/environment sensing and perception processor, said first motion planning processor using the processed sensor signals to provide lane center trajectory planning and tracking commands and lane change trajectory planning and tracking commands, said first motion planning processor providing desired longitudinal and lateral/roll dynamics signals and desired steering torque signals;
a second motion planning processor responsive to the processed sensor signals from the vehicle/environment sensing and perception processor, said second motion planning processor using the processed sensor signals to provide forward speed/target tracking command signals and backward speed and target tracking command signals, said sensor motion planning processor providing desired longitudinal dynamics signals;
a driver command interpreter responsive to primary driver command signals, said driver command interpreter interpreting driver'"'"'s steering, braking and/or throttle commands and generating desired longitudinal and lateral/roll dynamics signals and desired steering torque signals;
a command integration processor responsive to the desired longitudinal dynamics signals from the driver command interpreter, the first motion planning processor and the second motion planning processor, the desired lateral/roll dynamics signals from the driver command interpreter and the first motion planning processor, and the desired steering torque signals from the driver command interpreter and the first motion planning processor, said command integration processor providing reference vehicle dynamics for vehicle lateral, roll and longitudinal dynamic and command integration for motion and advisory commands, said command integration processor outputting integrated longitudinal vehicle dynamics signals, integrated lateral/roll vehicle dynamics signals and integrated steering torque command signals; and
a control integration and supervisory controller responsive to the integrated longitudinal dynamics signals, the integrated lateral/roll dynamics signals and the integrated steering torque command signals from the command integration processor, said control integration and supervisory controller providing control integration with vehicle integrated forces and yaw moment and supervisory control, and outputting integrated longitudinal force command signals, integrated lateral force command signals, integrated yaw moment command signals and steering torque command signals.
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Abstract
A vehicle control architecture designed based on a top-down approach with abstraction and modularity. The control architecture includes a vehicle/environment sensing and perception processor that processes sensor signals, and motion planning processors that provide lane center trajectory planning and tracking command, lane change trajectory planning and tracking command, and forward and backward speed and target tracking command. The architecture also includes a driver command interpreter that interprets driver commands and a command integration processor that provides reference dynamics for vehicle lateral, roll and longitudinal dynamics. The architecture also includes a control integration and supervisory controller that provides control integration and outputs integrated longitudinal force command signals, integrated lateral force command signals, integrated yaw moment command signals and steering torque command signals that are used by a vehicle longitudinal controller and a vehicle lateral controller.
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Citations
20 Claims
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1. A vehicle control architecture comprising:
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a vehicle/environment sensing and perception processor providing processed sensor signals; a first motion planning processor responsive to the processed sensor signals from the vehicle/environment sensing and perception processor, said first motion planning processor using the processed sensor signals to provide lane center trajectory planning and tracking commands and lane change trajectory planning and tracking commands, said first motion planning processor providing desired longitudinal and lateral/roll dynamics signals and desired steering torque signals; a second motion planning processor responsive to the processed sensor signals from the vehicle/environment sensing and perception processor, said second motion planning processor using the processed sensor signals to provide forward speed/target tracking command signals and backward speed and target tracking command signals, said sensor motion planning processor providing desired longitudinal dynamics signals; a driver command interpreter responsive to primary driver command signals, said driver command interpreter interpreting driver'"'"'s steering, braking and/or throttle commands and generating desired longitudinal and lateral/roll dynamics signals and desired steering torque signals; a command integration processor responsive to the desired longitudinal dynamics signals from the driver command interpreter, the first motion planning processor and the second motion planning processor, the desired lateral/roll dynamics signals from the driver command interpreter and the first motion planning processor, and the desired steering torque signals from the driver command interpreter and the first motion planning processor, said command integration processor providing reference vehicle dynamics for vehicle lateral, roll and longitudinal dynamic and command integration for motion and advisory commands, said command integration processor outputting integrated longitudinal vehicle dynamics signals, integrated lateral/roll vehicle dynamics signals and integrated steering torque command signals; and a control integration and supervisory controller responsive to the integrated longitudinal dynamics signals, the integrated lateral/roll dynamics signals and the integrated steering torque command signals from the command integration processor, said control integration and supervisory controller providing control integration with vehicle integrated forces and yaw moment and supervisory control, and outputting integrated longitudinal force command signals, integrated lateral force command signals, integrated yaw moment command signals and steering torque command signals. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A vehicle control architecture comprising:
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a plurality of sensors including a right front mid-range radar, a left front mid-range radar, a right-side front mid-range radar, a left-side front mid-range radar, a right-side rear mid-range radar, a left-side rear mid-range radar, a right rear mid-range radar, a left rear mid-range radar, a front long-range radar, a rear long-range radar, a front LIDAR, a rear LIDAR, a front camera, a rear camera, a right-side camera, a left-side camera, a GPS receiver, a map database and vehicle motion sensors, said sensors providing sensor signals; a vehicle/environment sensing and perception processor being responsive to the sensor signals and providing processed sensor signals, said vehicle/environment sensing and perception processor including an object fusion sub-system that provides moving object detection, moving object fusion, stationary object detection and stationary object fusion, a vehicle path prediction sub-system that provides vehicle forward path estimation and vehicle backward path estimation, a lane/path estimation sub-system that provides forward lane path estimation and backward lane path estimation, a vehicle state and parameters estimation sub-system that provides vehicle speed estimation and vehicle lateral velocity estimation, and a road assessment sub-system that provides surface friction and condition estimation, road shoulder lane merge/split detection and road-bank and slope estimation; a first motion planning processor responsive to the processed sensor signals from the vehicle/environment sensing and perception processor, said first motion planning processor using the processed sensor signals to provide lane center trajectory planning and tracking commands and lane change trajectory planning and tracking commands, said first motion planning processor providing desired longitudinal and lateral/roll dynamics signals and desired steering torque signals; a second motion planning processor responsive to the processed sensor signals from the vehicle/environment sensing and perception processor, said second motion planning processor using the processed sensor signals to provide forward speed/target tracking command signals and backward speed and target tracking command signals, said sensor motion planning processor providing desired longitudinal dynamics signals; a driver command interpreter responsive to primary driver command signals, said driver command interpreter interpreting driver'"'"'s steering, braking and/or throttle command and generating desired longitudinal and lateral/roll signals, and desired steering torque signals; a command integration processor responsive to the desired longitudinal and lateral/roll dynamics signals and the desired steering torque signals from the driver command interpreter, the desired longitudinal and lateral/roll dynamics signals and the desired steering torque signals from the first motion planning processor and the desired longitudinal dynamics signals from the second motion planning processor, said command integration processor providing reference vehicle dynamics for vehicle lateral, roll and longitudinal dynamics, and command integration for motion and advisory commands, said command integration processor outputting integrated longitudinal vehicle dynamics, integrated lateral/roll vehicle dynamics signals and integrated steering torque command signals; a control integration and supervisory controller responsive to the integrated longitudinal dynamics signals, the integrated lateral/roll dynamics signals and the integrated steering torque command signals from the command integration processor, said control integration and supervisory controller receiving integrated longitudinal dynamics signals, integrated lateral/roll dynamics signals and steering torque command signals from the command integration processor and outputting integrated longitudinal force command signals, integrated lateral force command signals, integrated yaw moment command signals and steering torque command signals; and a vehicle longitudinal controller and a vehicle lateral controller, said vehicle longitudinal controller being responsive to the integrated longitudinal force command signals and the integrated yaw moment command signals from the control integration and supervisory controller, and outputting brake torque command signals and engine throttle, gear shift and regenerative braking command signals, said vehicle lateral controller being responsive to the integrated yaw moment command signals, the integrated lateral force command signals and the steering torque command signals from the control integration and supervisory controller and outputting steering angle command signals and steering torque command signals. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A vehicle control architecture comprising:
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a vehicle/environment sensing and perception processor for processing inputs from vehicle detectors, cameras, radar devices and sensors, said vehicle/environment sensing and perception processor providing processed sensor signals; a motion planning processor responsive to the processed sensor signals from the vehicle/environment sensing and perception processor, said motion planning processor using the processed sensor signals to provide lane center trajectory planning and tracking commands, lane change trajectory planning and tracking commands and desired steering torque signals, said motion planning processor providing desired lateral/roll dynamics signals, forward speed/target tracking command signals and backward speed and target tracking command signals; a driver command interpreter responsive to primary driver command signals, said driver command interpreter interpreting driver'"'"'s steering, braking and throttle and outputting vehicle desired longitudinal, lateral/roll dynamics signals and desired steering torque command signals; and a command integration processor responsive to the desired longitudinal and lateral/roll dynamics signals and the desired steering torque signals from the driver command interpreter and the desired longitudinal and lateral/roll dynamics signals and the desired steering torque signals from the motion planning processor, said command integration processor providing reference vehicle dynamics for vehicle lateral, roll and longitudinal dynamic, and command integration for motion and advisory information, said command integration processor outputting integrated longitudinal vehicle dynamic signals, integrated lateral/roll vehicle dynamics signals and integrated steering torque command signals. - View Dependent Claims (17, 18, 19, 20)
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Specification