Apparatus, method and computer readable medium for calculating target steering angle considering yaw moment by torque vectoring when turning driving of electric vehicle in autonomous driving
AssigneesHyundai Motor Company, Kia Corporation
InventorGwi Chul Kim
Life of this patent
Estimating the term…
Abstract
An apparatus of determining a target steering angle, may include: a feedforward steering angle calculator configured for determining a feed forward steering angle reflecting a yaw moment generated by torque vectoring during turning driving of an electric vehicle in autonomous driving; and an adder configured for obtaining a target steering angle by adding the determined feedforward steering angle to a feedback steering angle, the feedback steering angle being a steering angle measured through a steering angle sensor.
Claims13
An apparatus of determining a target steering angle, the apparatus comprising:
- one or more processors, and
- a storage medium storing computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to:
- determine a feed forward steering angle reflecting a yaw moment generated by torque vectoring during turning driving of an electric vehicle in autonomous driving;
- and
- obtain the target steering angle by adding the determined feedforward steering angle to a feedback steering angle, the feedback steering angle being a steering angle measured through a steering angle sensor;
- and
- controlling the autonomous driving of the electric vehicle based on the target steering angle.
A method for determining a target steering angle, which is performed on a computing device comprising one or more processors and a storage medium storing computer-readable instructions that can be executed by the one or more processors, the method comprising:
- determining, by the one or more processors, a feedforward steering angle by reflecting a yaw moment generated by torque vectoring during turning driving of an electric vehicle in autonomous driving;
- obtaining, by the one or more processors, a target steering angle by adding the determined feedforward steering angle to a feedback steering angle, the feedback steering angle being a steering angle measured through a steering angle sensor;
- and
- controlling the autonomous driving of the electric vehicle based on the target steering angle.
A non-transitory computer-readable storage medium storing computer-readable instructions which causes a computing device to:
- determine, a feedforward steering angle by reflecting a yaw moment generated by torque vectoring during turning driving of an electric vehicle in autonomous driving;
- and
- obtain, a target steering angle by adding the determined feedforward steering angle to a feedback steering angle, the feedback steering angle being a steering angle measured through a steering angle sensor;
- and
- control the autonomous driving of the electric vehicle based on the target steering angle.
Dependencies are inferred from the claim text.