US 12,594,935 B2Granted

Predictive variable velocity model-based lateral control for robust automated driving

AssigneeGM Global Technology Operations LLC

InventorsMohammadali Shahriari, Reza Zarringhalam, Mohammed Raju Hossain, Ashraf Abualfellat, Brian Porto

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Abstract

A method for vehicle lane centering includes determining a speed profile over a predetermined period of time to maintain a predetermined speed while a vehicle moves within a lane of a road. The road has a road curve. The predetermined period of time includes a current time and a future time. The method further includes determining a curvature of a vehicle path along the road curve of the road and determining an error of a steering angle command using the speed profile and the curvature of the vehicle path along the road curve of the road. Further, the method further includes determining a variable velocity feedforward control command using the error on the steering angle command and controlling the vehicle using the variable velocity feedforward control command.

Claims8

Dependent claims

A method for vehicle lane centering, comprising:

determining a speed profile of the vehicle over a predetermined period of time while a vehicle moves within a lane of a road, wherein the road has a road curve, and the predetermined period of time includes a current time and a future time;
determining a curvature of a vehicle path along the road curve of the road;
determining an error of a steering angle command using the speed profile and the curvature of the vehicle path along the road curve of the road, wherein the error of the steering angle command is calculated as a function of a yaw rate of the vehicle at the current time to determine an understeer coefficient of the vehicle;
determining a variable velocity feedforward control command using the error on the steering angle command, wherein the variable velocity feedforward control command is calculated using a following equation:
δ
FF
,
v
.
=
Δ
⁢
v
⁢
ρ
ref
(
v
⁢
K
us
-
(
l
f
2
+
l
r
2
)
2
⁢
L
⁡
(
Δ
⁢
v
+
v
)
)
δFF,{dot over (v)} is the variable velocity feedforward control command, ρref is the curvature of a vehicle path along the road curve of the road, v is a velocity of the vehicle, Δv is a velocity difference between a first velocity of the vehicle at a first point in time and a second velocity of the vehicle at a second point in time, Kus is the understeer coefficient of the vehicle error on the steering angle command, lr is a distance from a center of gravity of the vehicle to a rear axle of the vehicle,
lf is a distance from a center of gravity of the vehicle to a front axle of the vehicle, and L is a distance from a front axle to the rear axle of the vehicle;
and
controlling the vehicle using the variable velocity feedforward control command to maintain the vehicle traveling along a center of a lane when the vehicle is traveling along the road curve, wherein the controller compensates for impact of the variable speed at a look-ahead distance and iteratively updates a Model Predictive Control with the variable velocity feedforward control command to determine a vehicle path over the predetermined period of time.

44 more elements

A control system for a vehicle, comprising:

a plurality of sensors;
a controller in communication with the plurality of sensors, wherein the controller is programmed to:
determine a speed profile of the vehicle over a predetermined period of time while a vehicle moves within a lane of a road, wherein the road has a road curve, and the predetermined period of time includes a current time and a future time;
determine a curvature of a vehicle path along the road curve of the road;
determine an error of a steering angle command using the speed profile and the curvature of the vehicle path along the road curve of the road, wherein the error of the steering angle command is calculated as a function of a yaw rate of the vehicle at the current time to determine an understeer coefficient of the vehicle;
determine a variable velocity feedforward control command using the error on the steering angle command, wherein the variable velocity feedforward control command is calculated using a following equation:
δ
FF
,
v
.
=
Δ
⁢
v
⁢
ρ
ref
(
v
⁢
K
us
-
(
l
f
2
+
l
r
2
)
2
⁢
L
⁡
(
Δ
⁢
v
+
v
)
)
δFF,{dot over (v)} is the variable velocity feedforward control command, ρref is the curvature of a vehicle path along the road curve of the road, v is a velocity of the vehicle, Δv is a velocity difference between a first velocity of the vehicle at a first point in time and a second velocity of the vehicle at a second point in time, Kus is the understeer coefficient of the vehicle error on the steering angle command, lr is a distance from a center of gravity of the vehicle to a rear axle of the vehicle, lf is a distance from a center of gravity of the vehicle to a front axle of the vehicle, and L is a distance from a front axle to the rear axle of the vehicle;
and
control the vehicle using the variable velocity feedforward control command to maintain the vehicle traveling along a center of a lane when the vehicle is traveling along the road curve, wherein the controller compensates for impact of the variable speed at a look-ahead distance and iteratively updates a Model Predictive Control with the variable velocity feedforward control command to determine a vehicle path over the predetermined period of time.

45 more elements

A vehicle, comprising:

a vehicle body;
a plurality of sensors coupled to the vehicle body;
a controller in communication with the plurality of sensors, wherein the controller is programmed to:
determine a speed profile of the vehicle over a predetermined period of time while a vehicle moves within a lane of a road, wherein the road has a road curve, and the predetermined period of time includes a current time and a future time;
determine a curvature of a vehicle path along the road curve of the road;
determine an error of a steering angle command using the speed profile and the curvature of the vehicle path along the road curve of the road, wherein the error of the steering angle command is calculated as a function of a yaw rate of the vehicle at the current time to determine an understeer coefficient of the vehicle;
determine a variable velocity feedforward control command using the error on the steering angle command, wherein the variable velocity feedforward control command is calculated using a following equation:
δ
FF
,
v
.
=
Δ
⁢
v
⁢
ρ
ref
(
v
⁢
K
us
-
(
l
f
2
+
l
r
2
)
2
⁢
L
⁡
(
Δ
⁢
v
+
v
)
)
δFF,{dot over (v)} is the variable velocity feedforward control command, ρref is the curvature of a vehicle path along the road curve of the road, v is a velocity of the vehicle, Δv is a velocity difference between a first velocity of the vehicle at a first point in time and a second velocity of the vehicle at a second point in time, Kus is the understeer coefficient of the vehicle error on the steering angle command, lr is a distance from a center of gravity of the vehicle to a rear axle of the vehicle,
lf is a distance from a center of gravity of the vehicle to a front axle of the vehicle, and L is a distance from a front axle to the rear axle of the vehicle;
and
control the vehicle using the variable velocity feedforward control command to maintain the vehicle traveling along a center of a lane when the vehicle is traveling along the road curve, wherein the controller compensates for impact of the variable speed at a look-ahead distance and iteratively updates a Model Predictive Control with the variable velocity feedforward control command to determine a vehicle path over the predetermined period of time.

47 more elements

Dependencies are inferred from the claim text.

Facts

Application: 18/656,977Filed 7 May 2024
Published: US 2025/0346225 A113 Nov 2025
Granted: 7 Apr 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification13 codes

B60W 30/12
Path keeping: lane keeping
B60W 30/18145
Related to particular drive situations: cornering
B60W 10/20
Conjoint control of vehicle sub-units of different type or different function: including control of steering systems
B60W 30/143
Adaptive cruise control: speed control

Family

US 2025/0346225 A1Pre-grant publication · published 13 Nov 2025
US 12,594,935 B2This patent

From the US filing history. Foreign family members aren’t listed.

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