Apparatus and method for situation dependent had or ADAS wheel angle control

• US 10,640,145 B2
• Filed: 03/13/2018
• Issued: 05/05/2020
• Est. Priority Date: 03/20/2017
• Status: Active Grant

• Current Assignee: Volvo Car Corporation (AB Volvo)
• Original Assignee: Volvo Car Corporation (AB Volvo)
• Inventors: Mardh, Lars Johannesson, Haglund, Malin
• Primary Examiner(s): Dunn, Alex C
• Application Number:
  US15/920,019
• Publication Number:
  US 20180265123A1
• Time in Patent Office: 784 Days
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 5/046 Controlling the motor
• CPC Class Codes: B62D 5/0463 calculating assisting torque from the motor based on driver input
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence
• CPC Class Codes: B62D 6/008 Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

An apparatus and method are described for situation dependent wheel angle (δ_w) control by a HAD or ADA system of a road vehicle, the HAD or ADA system configured to receive internal state data as well as ambient information or map data, and generates a penalty measure based thereupon. A lateral controller receives a desired path and outputs a wheel angle request (δ_w,r). A PSCM includes a wheel angle controller configured to receive the wheel angle request (δ_w,r), wheel angle (δ_w) and wheel angle rate ({dot over (δ)}_w) data, and output an overlay torque request to a motor controller of a steering system. The lateral controller calculates gain parameters (I_δw, I_{{dot over (δ)}w}) based on the penalty measure and outputs these to the wheel angle controller. The wheel angle controller receives and uses the gain parameters (I_δw, I_{{dot over (δ)}w}) in control loops thereof to adjust the bandwidth of the wheel angle controller.

Claims

1. An apparatus for situation dependent wheel angle (δ

_w) control by a highly autonomous drive system or an advanced driver assistance system of a road vehicle, the highly autonomous drive system or advanced driver assistance system configured to receive internal state data from one or more road vehicle internal state measurement units and at least one of ambient information on road vehicle surroundings from one or more road vehicle surrounding monitoring cameras and map data relating to the road vehicle surroundings from a road vehicle localization system, the apparatus comprising;

a lateral controller configured to receive from the highly autonomous drive system or advanced driver assistance system information on a desired path, and to output a wheel angle request (δ

_w,r); and

a power steering control module comprising a wheel angle controller configured to receive as inputs the wheel angle request (δ

_w,r) from the lateral controller as well as wheel angle (δ

_w) and wheel angle rate ({dot over (δ

)}_w) data, and to output an overlay torque request suitable for a motor controller of a steering system of the road vehicle;

wherein the lateral controller is configured to calculate gain parameters (I<sub>δ

w</sub>, I<sub>{dot over (δ

)}w</sub>) based on a penalty measure generated by the highly autonomous drive system or advanced driver assistance system, the penalty measure indicative of how penalties should be handled in the lateral controller based on the internal state data and at least one of the ambient information and the map data, and to output to the wheel angle controller the calculated gain parameters (I<sub>δ

w</sub>, I<sub>{dot over (δ

)}w</sub>);

wherein the wheel angle controller is further configured to receive and use the gain parameters (I<sub>δ

w</sub>, I<sub>{dot over (δ

)}w</sub>) in control loops of the wheel angle controller such that a bandwidth of the wheel angle controller is increased if one or more of the ambient information, the map data, and the internal state data indicate a need for increased control speed and accuracy for safely tracking the desired path, and reduced if one or more of the ambient information, the map data, and the internal state data indicate that decreased control speed and accuracy can be allowed while still safely tracking the desired path.

2. The apparatus of claim 1 wherein the lateral controller is further configured to calculate the gain parameters (I_δ

_w, I<sub>{dot over (δ

)}w</sub>) to provide for increased control speed and accuracy in tracking of the desired path if at least one of the ambient information, the map data, and the internal state data indicate a reduced margin for safe road vehicle travel along the desired path.

3. The apparatus of claim 1 wherein the lateral controller is further configured to calculate the gain parameters (I_δ

_w, I<sub>{dot over (δ

)}w</sub>) to provide for decreased control speed and accuracy in tracking of the desired path if at least one of the ambient information, the map data, and the internal state data indicate an increased margin for safe road vehicle travel along the desired path.

4. The apparatus of claim 1 wherein the wheel angle controller is configured to execute a wheel angle control loop and a wheel angle rate control loop and the lateral controller is configured to calculate a gain parameter (I_δ

_w) for the wheel angle control loop and a gain parameter (I<sub>{dot over (δ

)}w</sub>) for the wheel angle rate control loop of the wheel angle controller.

5. The apparatus of claim 1 wherein the wheel angle controller is configured to execute an outer wheel angle control loop and an inner wheel angle rate control loop and the lateral controller is configured to calculate a gain parameter (I_δ

_w,o) for the outer wheel angle control loop and a gain parameter (I<sub>{dot over (δ

)}w,i</sub>) for the inner wheel angle rate control loop of the wheel angle controller.

6. The apparatus of claim 1 wherein the lateral controller has a linear quadratic problem formulation with a quadratic penalty on wheel angle rate ({dot over (δ

)}_w) and wheel angle acceleration ({umlaut over (δ

)}_w) and the linear quadratic problem formulation is used to calculate the gain parameters (I<sub>δ

w</sub>, I<sub>δ

w,o</sub>, I<sub>{dot over (δ

)}w</sub>, I<sub>{dot over (δ

)}w,i</sub>).

7. The apparatus of claim 1 wherein the power steering control module is configured to recreate a wheel angle rate request ({dot over (δ

)}_w,r) for the wheel angle rate control loop of the wheel angle controller from the gain parameter for the wheel angle control loop (I<sub>δ

w</sub>, I<sub>δ

w,o</sub>) and the gain parameter for the wheel angle rate control loop (I<sub>{dot over (δ

)}w</sub>, I<sub>{dot over (δ

)}w,i</sub>), the wheel angle request (δ

_w,r), the wheel angle (δ

_w) and the wheel angle rate data ({dot over (δ

)}_w).

8. The apparatus of claim 7 wherein the power steering control module is configured to recreate the wheel angle rate request ({dot over (δ

)}_w,r) for the wheel angle rate control loop of the wheel angle controller as the gain parameter for the wheel angle control loop (I<sub>δ

w</sub>, I<sub>δ

w,o</sub>) multiplied with the difference between the wheel angle request (δ

_w,r) and the wheel angle (δ

_w) reduced with the product of the gain parameter for the wheel angle rate control loop (I<sub>{dot over (δ

)}w</sub>, I<sub>{dot over (δ

)}w,i</sub>) and the wheel angle rate data ({dot over (δ

)}_w).

9. A steer torque manager comprising the apparatus of claim 1 wherein the wheel angle controller is configured to receive and use gain parameters (I_δ

_w, I<sub>{dot over (δ

)}w</sub>) in control loops of the wheel angle controller.

10. A road vehicle comprising the apparatus of claim 1.

11. A method for situation dependent wheel angle (δ

_w) control by a highly autonomous drive system or an advanced driver assistance system of a road vehicle, the highly autonomous drive system or advanced driver assistance system configured to receive internal state data from one or more road vehicle internal state measurement units and at least one of ambient information on road vehicle surroundings from one or more road vehicle surrounding monitoring cameras and map data relating to the road vehicle surroundings from a road vehicle localization system, the road vehicle having a lateral controller configured to receive from the highly autonomous drive system or advanced driver assistance system information on a desired path and output a wheel angle request (δ

_w,r), a power steering control module having a wheel angle controller configured to receive as inputs the wheel angle request (δ

_w,r) from the lateral controller as well as wheel angle (δ

_w) and wheel angle rate ({dot over (δ

)}_w) data, and to output an overlay torque request suitable for a motor controller of a steering system of the road vehicle, the method comprising;

generating, by the highly autonomous drive system or advanced driver assistance system, a penalty measure indicative of how penalties should be handled in the lateral controller based on the internal state data and at least one of the ambient information and the map data;

calculating, by the lateral controller, gain parameters (I<sub>δ

w</sub>, I<sub>{dot over (δ

)}w</sub>) based on the penalty measure;

outputting to the wheel angle controller the calculated gain parameters (I<sub>δ

w</sub>, I<sub>{dot over (δ

)}w</sub>); and

receiving, at the wheel angle controller, the gain parameters (I<sub>δ

w</sub>, I<sub>{dot over (δ

)}w</sub>) and using them in control loops of the wheel angle controller to increase a bandwidth of the wheel angle controller if one or more of the ambient information, the map data, and the internal state data indicate a need for increased control speed and accuracy for safely tracking the desired path, and to reduce the bandwidth of the wheel angle controller if one or more of the ambient information, the map data, and the internal state data indicate that decreased control speed and accuracy can be allowed while still safely tracking the desired path.

12. A method for situation dependent wheel angle (δ

_w) control by a highly autonomous drive system or an advanced driver assistance system of a road vehicle, the highly autonomous drive system or advanced driver assistance system configured to receive internal state data from one or more road vehicle internal state measurement units and at least one of ambient information on road vehicle surroundings from one or more road vehicle surrounding monitoring cameras and map data relating to the road vehicle surroundings from a road vehicle localization system, the road vehicle having a lateral controller configured to receive from the highly autonomous drive system or advanced driver assistance system information on a desired path and output a wheel angle request (δ

_w,r), a power steering control module having a wheel angle controller configured to receive as inputs the wheel angle request (δ

_w,r) from the lateral controller as well as wheel angle (δ

_w) and wheel angle rate ({dot over (δ

)}_w) data, and to output an overlay torque request suitable for a motor controller of a steering system of the road vehicle, wherein the highly autonomous drive system or advanced driver assistance system generates a penalty measure indicative of how penalties should be handled in the lateral controller based on the internal state data and at least one of the ambient information and the map data, and the lateral controller generates gain parameters (I<sub>δ

w</sub>, I<sub>{dot over (δ

)}w</sub>) based on the penalty measure and outputs the calculated gain parameters (I<sub>δ

w</sub>, I<sub>{dot over (δ

)}w</sub>) to the wheel angle controller, the method comprising;

receiving, at the wheel angle controller, the calculated gain parameters (I<sub>δ

w</sub>, I<sub>{dot over (δ

)}w</sub>);

increasing, in control loops of the wheel angle controller, a bandwidth of the wheel angle controller using the gain parameters (I<sub>δ

w</sub>, I<sub>{dot over (δ

)}w</sub>) if one or more of the ambient information, the map data, and the internal state data indicate a need for increased control speed and accuracy for safely tracking the desired path; and

reducing, in control loops of the wheel angle controller, the bandwidth of the wheel angle controller using the gain parameters (I<sub>δ

w</sub>, I<sub>{dot over (δ

)}w</sub>) if one or more of the ambient information, the map data, and the internal state data indicate that decreased control speed and accuracy can be allowed while still safely tracking the desired path.