Model predictive brake-to-steer control for automated vehicles
AssigneesSteering Solutions IP Holding Corporation, Continental Automotive Systems, Inc.
InventorsMichael S. Wyciechowski, Iulian Ungureanu, Thomas Raste, Scott T. Sanford
Life of this patent
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Abstract
Disclosed is a method using a brake-to-steer model predictive control to providing a limited level of lateral control for self-driving or semi-self-driving vehicles, when a component of a vehicle steering system fails or is failing.
Claims20
A method using a brake-to-steer model predictive control to providing a limited level of lateral control for self-driving or semi-self-driving vehicles, when a component of a vehicle steering system fails or is failing, the method comprising:
- continuously calculating, at every time stamp, a cost function using a model predictive control module based on at least a predictive slip angle and heading error of a vehicle to provide a calculated cost function;
- estimating a limit of a force that each tire of the vehicle can provide to provide an estimated tire force limit;
- generating a brake pressure command for each tire of the vehicle to minimize deviation from a target trajectory based upon at least the calculated cost function.
A product comprising a computer readable medium comprising:
- non-transitory memory having instructions stored thereon executable by an electronic processor, the instructions when executed by the electronic processor implement the following functions comprising:
- using vehicle speed data in a linear predictive varying model to provide a prediction model and sending the predictive model to a model predictive control module;
- using the predictive model to calculating a cost function based on at least a predictive slip angle and heading error of a vehicle to provide a calculated cost function;
- estimating the force that each tire of the vehicle can provide to provide an estimated tire force limit;
- and
- generating four brake pressure commands, one brake command for each tire of the vehicle, to minimize deviation from a target trajectory based upon the calculated cost function and the estimated tire force limit.
A method comprising:
- determining that a component of a vehicle steering system has failed or failing and in respond thereto using vehicle speed data in a linear predictive varying model to provide a prediction model and sending the predictive model to a model predictive control module;
- using the predictive model to continuously calculating a cost function at every time stamp based on at least a predictive slip angle and heading error of a vehicle to provide a calculated cost function;
- estimating the force that each tire of the vehicle can provide to provide an estimated tire force limit;
- and
- generating four brake pressure commands, one brake command for each tire of the vehicle, to minimize deviation from a target trajectory based upon the calculated cost function, and generating a propulsion command based on the calculated cost function and the estimated tire force limit.
Dependencies are inferred from the claim text.