Preview lateral control for automated driving
First Claim
1. A method for providing lateral steering control for an autonomously driven or semi-autonomously driven vehicle traveling along a roadway, said method comprising:
- providing a mathematical model of vehicle dynamics that includes a state variable, a steering control variable and a future roadway disturbance factor that defines curvature, bank and/or slope of the roadway, wherein providing a mathematical model includes providing a four-degree of freedom mathematical model or a six-degree of freedom mathematical model where the model uses a one-track bicycle model for the four-degree of freedom mathematical model and uses a combination of a one-track bicycle model and a one-degree of freedom steering model for the six-degree of freedom mathematical model;
determining a steering control goal using the steering control variable that reduces a difference between a current vehicle path and a desired vehicle path;
determining an optimal steering control signal using the mathematical model that provides the steering control goal and that includes a feedback portion and a feed-forward portion, where the feed-forward portion includes the road disturbance factor; and
providing the control signal to a steering controller.
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Abstract
A method for providing vehicle lateral steering control. The method includes providing a mathematical model of vehicle dynamics that includes a state variable, a steering control variable and a future road disturbance factor that defines the upcoming road curvature, banks and slopes of the roadway. The method determines an optimal steering control signal that includes a feedback portion and a feed-forward portion, where the feed-forward portion includes the road disturbance factor. The method determines a state variable and a control variable for the current roadway curvature, bank and slope for stationary motion of the vehicle for constant speed, yaw rate and lateral velocity. The method then introduces a new state variable and control variable for dynamic vehicle motion for variable speed, yaw rate and lateral velocity that is a difference between the state and control variables for predicted future times and the steady state variables.
47 Citations
21 Claims
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1. A method for providing lateral steering control for an autonomously driven or semi-autonomously driven vehicle traveling along a roadway, said method comprising:
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providing a mathematical model of vehicle dynamics that includes a state variable, a steering control variable and a future roadway disturbance factor that defines curvature, bank and/or slope of the roadway, wherein providing a mathematical model includes providing a four-degree of freedom mathematical model or a six-degree of freedom mathematical model where the model uses a one-track bicycle model for the four-degree of freedom mathematical model and uses a combination of a one-track bicycle model and a one-degree of freedom steering model for the six-degree of freedom mathematical model; determining a steering control goal using the steering control variable that reduces a difference between a current vehicle path and a desired vehicle path; determining an optimal steering control signal using the mathematical model that provides the steering control goal and that includes a feedback portion and a feed-forward portion, where the feed-forward portion includes the road disturbance factor; and providing the control signal to a steering controller. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for providing lateral steering control for an autonomously driven or semi-autonomously driven vehicle traveling along a roadway, said method comprising:
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providing a mathematical model of vehicle dynamics that includes a state variable, a steering control variable and a future roadway disturbance factor that defines curvature, bank and/or slope of the roadway; determining a steering control goal using the steering control variable that reduces a difference between a current vehicle path and a desired vehicle path; determining an optimal steering control signal using the mathematical model that provides the steering control goal and that includes a feedback portion and a feed-forward portion, where the feed-forward portion includes the road disturbance factor, wherein determining a steering control signal includes using the mathematical model to define a state variable and a control variable for a vehicle steady state or stationary motion condition, where the stationary motion has a constant speed, yaw rate and lateral velocity, for a current curvature, bank and slope of the roadway; and providing the control signal to a steering controller. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A method for providing lateral steering control for an autonomously driven or semi-autonomously driven vehicle traveling along a roadway, said method comprising:
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providing a four-degree of freedom or a six-degree of freedom mathematical model of vehicle dynamics that includes a state variable, a steering control variable and a future roadway disturbance factor that defines curvature, bank and/or slope of the roadway; determining a steering control goal using the steering control variable that reduces a difference between a current vehicle path and a desired vehicle path; determining an optimal steering control signal using the mathematical model that provides the steering control goal and that includes a feedback portion and a feed-forward portion, where the feed-forward portion includes the road disturbance factor, wherein determining the steering control signal includes defining a state variable and a control variable for a vehicle steady state or stationary motion condition for a current curvature, bank and slope of the roadway, where the stationary motion has a constant speed, yaw rate and lateral velocity, and transforming the state variable and the control variable for the vehicle steady state condition by subtracting the state variable and the control variable for the steady state condition from the state variable and the control variable at future sample times to obtain a new state variable and a new control variable for each sample time that provides a deviation of the dynamic motion of the vehicle from the stationary motion; and providing the control signal to a steering controller. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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Specification