Path planning during steer-by-brake or steer-by-torque vectoring
AssigneeVolvo Car Corporation
InventorsDerong Yang, Mats Jonasson
Life of this patent
Estimating the term…
Abstract
A computer-implemented method for providing control data for at least one driver support system of a vehicle, or for at least one driving assistance system of the vehicle for supporting driving of the vehicle on a desired path through a curvature planning and steering, can comprise: obtaining suspension data of the vehicle, obtaining vehicle data of the vehicle, obtaining vehicle driving sensor data of the vehicle, determining a steering angle data based on the suspension data, the vehicle data, and the vehicle driving sensor data, and determining the control data for the at least one driver support system or the at least one driving assistance system based on the steering angle data and a curvature vehicle model.
Claims23
A computer-implemented method, comprising:
- detecting, by a driver assistance system of a vehicle, a failure of a steering system of the vehicle while driving on a desired path;
- controlling, by the at least one processor of the driver assistance system, steering of the vehicle during the failure of a steering system, wherein the controlling comprises:
- obtaining suspension data of the vehicle;
- obtaining vehicle data of the vehicle;
- obtaining vehicle driving sensor data of the vehicle;
- determining steering angle data based on the suspension data, the vehicle data, and the vehicle driving sensor data;
- and
- determining control data for controlling the steering of the vehicle on the desired path based on the steering angle data and a curvature vehicle model, wherein the control data comprises maximum speed data defining a maximum speed during the failure of the steering system at which the vehicle can follow a curvature of the desired path.
A driver support system of a vehicle, the driver support system comprising:
- a computing device configured to execute at least one of computer program element that:
- detect a failure of a steering system of the vehicle while driving on a desired path;
- control steering of the vehicle during the failure of a steering system, wherein the controlling comprises:
- obtaining suspension data of the vehicle;
- obtaining vehicle data of the vehicle;
- obtaining vehicle driving sensor data of the vehicle;
- determining steering angle data based on the suspension data, the vehicle data, and the vehicle driving sensor data;
- and
- determining control data for controlling the steering of the vehicle on the desired path based on the steering angle data and a curvature vehicle model, wherein the control data comprises maximum speed data defining a maximum speed during the failure of the steering system at which the vehicle can follow a curvature of the desired path.
A vehicle, comprising:
- a driving assistance system, comprising:
- a computing device configured to execute at least one of computer program element that:
- detect a failure of a steering system of the vehicle while driving on a desired path;
- control steering of the vehicle during the failure of a steering system, wherein the controlling comprises:
- obtaining suspension data of the vehicle;
- obtaining vehicle data of the vehicle;
- obtaining vehicle driving sensor data of the vehicle;
- determining steering angle data based on the suspension data, the vehicle data, and the vehicle driving sensor data;
- and
- determining control data for controlling the steering of the vehicle on the desired path based on the steering angle data and a curvature vehicle model, wherein the control data comprises maximum speed data defining a maximum speed during the failure of the steering system at which the vehicle can follow a curvature of the desired path.
Dependencies are inferred from the claim text.