Methods and systems for using road preview to control vehicle velocity during cornering

A system in a vehicle for providing driving assistance, comprising:

• a controller including non-transitory computer readable media and configured to, by a processor:
• receive image data from an image sensor of the vehicle;
• receive a fuel level from a fuel level sensor of the vehicle;
• determine curvature data associated with first, second, and third regions of a curve on a roadway ahead of the vehicle based on the image data;
• determine velocity data based on the curvature data, steering data of the vehicle, and set speed data associated with a semi-autonomous control system of the vehicle, the steering data including a steering angle and a steering rate, wherein:
• when the steering angle is greater than a threshold in the first region of the curve, and the set speed data is above a threshold, determine the velocity data based in part on a target lateral acceleration;
• when the steering angle remains greater than the threshold in the second region of the curve, and the set speed data remains above the threshold, determine the velocity data based in part on an updated target lateral acceleration;
• when the steering angle drops below the threshold in the third region of the curve and the steering rate has changed to opposite of an initial steering rate, determine the velocity data based in part on an acceleration profile and the set speed data, wherein the opposite of the initial steering rate is a steering rate having a magnitude that has changed from a negative value to a positive value;
• the determining the velocity data is based in part on weather conditions associated with the roadway ahead of the vehicle;
• the determining the velocity data is based in part on slosh associated with the fuel level of the vehicle;
• and
• generate control commands to the semi-autonomous control system to control the vehicle to a speed other than a set speed of the set speed data based on the velocity data.

A vehicle comprising:

• a sensor system configured to sense an environment of the vehicle;
• a fuel level sensor;
• a semi-autonomous control system;
• and
• a controller for implementing a driver assistance system, the controller configured to:
• receive, by a processor, sensor data from the sensor system;
• receive, by the processor, a fuel level from the fuel level sensor;
• determine, by the processor, curvature data associated with first, second, and third regions of a curve on a roadway ahead of the vehicle based on the sensor data from the sensor system;
• determine, by the processor, velocity data based on the curvature data, steering data of the vehicle, and set speed data associated with the semi-autonomous control system, wherein:
• when the steering angle is greater than a threshold in the first region of the curve, and the set speed data is above a threshold, determine the velocity data based in part on a target lateral acceleration;
• when the steering angle remains greater than the threshold in the second region of the curve, and the set speed data remains above the threshold, determine the velocity data based in part on an updated target lateral acceleration;
• when the steering angle drops below the threshold in the third region of the curve and the steering rate has changed to opposite of an initial steering rate, determine the velocity data based in part on an acceleration profile and the set speed data, wherein the opposite of the initial steering rate is a steering rate that has a magnitude that has changed from a negative value to a positive value;
• the determining the velocity data is based in part on weather conditions associated with the roadway ahead of the vehicle;
• the determining the velocity data is based in part on slosh associated with the fuel level of the vehicle;
• and
• generate, by the processor, control commands to the semi-autonomous control system to control the vehicle to a speed other than a set speed of the set speed data based on the velocity data.