PATH GENERATION ALGORITHM FOR AUTOMATED LANE CENTERING AND LANE CHANGING CONTROL SYSTEM

  • US 20090319113A1
  • Filed: 06/20/2008
  • Published: 12/24/2009
  • Est. Priority Date: 06/20/2008
  • Status: Active Grant
First Claim
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1. A system for determining a desired path for vehicle steering, said system comprising:

  • a plurality of vehicle sensors and detectors for detecting a travel lane of a roadway that the vehicle is travelling in and providing lane identification signals;

    a desired path generation processor responsive to the lane signals, a request for a lane change and a steering angle signal of the steering angle of the vehicle, said desired path generation processor generating a desired path of the vehicle and providing an output signal including a longitudinal distance that the lane change will take, a lateral distance that the lane change will take and an angle for the lane change;

    a path prediction processor responsive to vehicle state signals including vehicle lateral speed, vehicle longitudinal speed, vehicle yaw-rate and steering angle, said path prediction processor predicting a path of the vehicle based on the lateral vehicle speed, the longitudinal vehicle speed, the vehicle yaw-rate and the steering angle, said path prediction processor providing an output signal identifying the predicted path of the vehicle; and

    a comparator that compares the output signal from the desired path generation processor and the output signal from the path prediction processor and provides an error signal of the difference between the desired path and the predicted path of the vehicle.

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