Method and system for controlling change of lane

• US 9,014,919 B2
• Filed: 08/15/2013
• Issued: 04/21/2015
• Est. Priority Date: 04/11/2013
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Kim, Hoi Won
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): PAIGE, TYLER D
• Application Number:
  US13/967,684
• Publication Number:
  US 20140309889A1
• Time in Patent Office: 614 Days
• Field of Search: 701/41, 701/42, 180/170
• US Class Current: 701/42
• CPC Class Codes: B62D 15/0255 Automatic changing of lane, e.g. for passing another vehicle

Abstract

A lane change control method and system that include a driver mode setting unit that sets a driver'"'"'s lane change mode based on a lane change mode input from a plurality of lane change modes and a lane change path generation unit that generates a lane change path based on the lane change mode set by the driver mode setting unit, a transverse acceleration of vehicle, a target path angle and a target transverse distance path. In addition, a path follow up controller executes a lane change based on the lane change path by calculating steering angle information that corresponds to the lane change path.

Claims

1. A lane change control system, comprising;

a driver mode setting unit configured to set a driver'"'"'s lane change mode based on a lane change mode input from a plurality of lane cange modes;

a lane change path generation unit configured to generate a lane change path based on the lane change mode set by the driver mode setting unit, a transverse acceleration of vehicle, a target path angle and a target transverse distance path; and

a path follow up controller configured to execute a lane change based on the lane change path by calculating steering angle information that corresponds to the lane change path,

wherein the path follow up controller comprises;

a path error feedback controller configured to;

determine a difference between the lane change path and a current transverse position of the vehicle based on target transverse distance path information generated by the transverse position of the vehicle and the lane change path generation unit and measuring information of the vehicle;

calculate a first target front wheel angle; and

output a path error control signal that corresponds to the first target front wheel angle;

a disturbance feed forward controller configured to;

calculate a second front wheel angle based on a road curvature of the vehicle, a road inclination angle information of the vehicle and the measuring information of the vehicle; and

generate and output a disturbance control signal that corresponds to the second target front wheel angle;

a state feedback controller configured to;

calculate a third target front wheel angle based on vehicle state information and the measuring information of the vehicle; and

generate and output a vehicle state control signal that corresponds to the third target front wheel angle;

an integrated observer configured to transmit the measuring information of the vehicle transmitted by a sensor to the path error feedback controller, the disturbance feed forward controller, and the state feedback controller; and

a steering controller configured to calculate a final target front wheel angle for the lane change based on the path error control signal, the disturbance control signal and the vehicle state control signal to determine the steering angle information,

wherein the steering angle controller is configured to calculate the final target front wheel angle by combining the first target front wheel angle, the second front wheel angle, and the third front wheel angle.

2. The lane change control system of claim 1, wherein the plurality of the lane change modes have a different lane change time respectively, and the lane change path generation unit is configured to generate the lane change path for each lane change mode by applying the lane change time that corresponds to each of the lane change modes when calculating the vehicle transverse acceleration, the target path angle, and the target transverse distance path.

3. The lane change control system of claim 1, wherein the vehicle state information includes a vehicle transverse position, a heading angle between a vehicle and a lane, and a vehicle yaw rate.

4. The lane change control system of claim 1, wherein the measuring information of the vehicle includes a vehicle slip angle and a vehicle road inclination angle.

5. The lane change control system of claim 1, wherein the lane change path generation unit is further configured to generate a transverse acceleration profile as a sinusoid wave to allow the transverse acceleration to start from 0 at the time of starting the lane change and end at 0 at the time of finishing the lane change when calculating the transverse acceleration of the vehicle.

6. The lane change control system of claim 1, wherein the lane change path generation unit is further configured to generate a target path angle by integrating the transverse acceleration when calculating the target path angle.

7. The lane change control system of claim 1, the lane change path generation unit is further configured to generate a transverse distance path by integrating the target path angle when calculating the target transverse distance path.

8. A lane change control method, comprising:

setting, by a driver mode setting unit, a driver'"'"'s lane change mode based on a lane change mode input from a plurality of lane change modes;

generating, by a lane change path generation unit, a lane change path based on the lane change mode set by the driver mode setting unit, a transverse acceleration of vehicle, a target path angle and a target transverse distance path;

executing, by a path follow up controller, a lane change based on the lane change path by calculating steering angle information that corresponds to the lane change path;

determining, by the path follow up controller, a difference between the lane change path and a current transverse position of the vehicle based on target transverse distance path information generated by the transverse position of the vehicle and the lane change path generation unit and measuring information of the vehicle;

calculating, by the path follow up controller, a first target front wheel angle; and

outputting, by the path follow up controller, a path error control signal that corresponds to the first target front wheel angle;

calculating, by the path follow up controller, a second front wheel angle based on a road curvature of the vehicle, a road inclination angle information of the vehicle and the measuring information of the vehicle;

generating and outputting, by the path follow up controller, a disturbance control signal that corresponds to the second target front wheel angle;

calculating, by the path follow up controller, a third target front wheel angle based on vehicle state information and the measuring information of the vehicle;

generating and outputting, by the path follow up controller, a vehicle state control signal that corresponds to the third target front wheel angle;

transmitting, by the path follow up controller, the measuring information of the vehicle transmitted by a sensor to the path error feedback controller, the disturbance feed forward controller, and the state feedback controller;

calculating, by the path follow up controller, a final target front wheel angle for the lane change based on the path error control signal, the disturbance control signal and the vehicle state control signal to determine the steering angle information; and

calculating, by the path follow up controller, the final target front wheel angle by combining the first target front wheel angle, the second front wheel angle, and the third front wheel angle.

9. The lane change control method of claim 8, wherein the plurality of the lane change modes have a different lane change time respectively, and generating the lane change path further includes generating the lane change path for each lane change mode by applying the lane change time that corresponds to each of the lane change modes when calculating the vehicle transverse acceleration, the target path angle, and the target transverse distance path.

10. The lane change control method of claim 8, wherein the vehicle state information includes a vehicle transverse position, a heading angle between a vehicle and a lane, and a vehicle yaw rate.

11. The lane change control method of claim 8, wherein the measuring information of the vehicle includes a vehicle slip angle and a vehicle road inclination angle.

12. A non-transitory computer readable medium containing program instructions executed by a processor or controller, the computer readable medium comprising:

program instructions that control a driver mode setting unit to set a driver'"'"'s lane change mode based on a lane change mode input from a plurality of lane change modes;

program instructions that control a lane change path generation unit to generate a lane change path based on the lane change mode set by the driver mode setting unit, a transverse acceleration of vehicle, a target path angle and a target transverse distance path;

program instructions that execute a lane change based on the lane change path by calculating steering angle information that corresponds to the lane change path;

program instructions that determine a difference between the lane change path and a current transverse position of the vehicle based on tar et transverse distance path information generated by the transverse position of the vehicle and the lane change path generation unit and measuring information of the vehicle;

program instructions that calculate a first target front wheel angle; and

program instructions that output a path error control signal that corresponds to the first target front wheel angle;

program instructions that calculate a second front wheel angle based on a road curvature of the vehicle, a road inclination angle information of the vehicle and the measuring information of the vehicle; and

program instructions that generate and output a disturbance control signal that corresponds to the second target front wheel angle;

program instructions that calculate a third target front wheel angle based on vehicle state information and the measuring information of the vehicle; and

program instructions that generate and output a vehicle state control signal that corresponds to the third target front wheel angle;

program instructions that transmit the measuring information of the vehicle transmitted by a sensor to the path error feedback controller, the disturbance feed forward controller, and the state feedback controller;

program instructions that calculate a final target front wheel angle for the lane change based on the path error control signal, the disturbance control signal and the vehicle state control signal to determine the steering angle information; and

program instructions that calculate the final target front wheel angle by combining the first target front wheel angle, the second front wheel angle, and the third front wheel angle.

13. The non-transitory computer readable medium of claim 12, further comprising:

program instructions that control the lane change path generation unit to generate the lane change path for each lane change mode by applying a lane change time that corresponds to each of the lane change modes when calculating the vehicle transverse acceleration, the target path angle, and the target transverse distance path.

14. The non-transitory computer readable medium of claim 12, wherein the vehicle state information includes a vehicle transverse position, a heading angle between a vehicle and a lane, and a vehicle yaw rate.