Vehicle control system with adaptive wheel angle correction

  • US 9,487,235 B2
  • Filed: 04/01/2015
  • Issued: 11/08/2016
  • Est. Priority Date: 04/10/2014
  • Status: Active Grant
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First Claim
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1. A control system of a vehicle, said control system comprising:

  • an image sensor disposed at a vehicle and having a field of view exterior and forward of the vehicle;

    a control comprising an image processor operable to process image data captured by said image sensor to determine a curvature of a road being traveled by the vehicle;

    wherein, responsive at least in part to processing by said image processor of captured image data, said control is operable to determine tangents at locations along the determined curvature;

    wherein, responsive to determination of the tangents, said control is operable generate an output to adjust a vehicle steering to guide the vehicle in a direction that generally corresponds to determined tangents at respective locations of the vehicle'"'"'s path of travel along the curvature of the road; and

    wherein said control compares the determined curvature and a vehicle heading estimation with a vehicle position estimation to determine a lateral error and a vehicle wheel angle estimation to steer the vehicle along the curvature of the road.

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