Automated control architecture that handles both grip driving and sliding
AssigneeToyota Research Institute, Inc.
InventorsAvinash Balachandran, Yan Ming Jonathan Goh, John Subosits, Michael Thompson, Alexander R. Green
Life of this patent
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Abstract
Systems and methods of autonomously controlling a vehicle across the grip driving and drift driving operating ranges, are provided. The contemplated autonomous control can be effectuated using a closed-loop control system. In some embodiments, closed-loop control may be accomplished by deriving control laws involving sideslip angle, yaw rate, wheel speed, and other vehicle states. These control laws may be used to control the vehicle in a stable drift condition.
Claims21
A computer-implemented method comprising:
- determining a preference of a driver of a vehicle for drift driving;
- obtaining first data associated with a current operational state of the vehicle and second data associated with a contextual environment in which the vehicle operates;
- and
- based on the first data associated with the current operational state of the vehicle, the second data associated with the contextual environment in which the vehicle operates, and the determined preference for drift driving, determining to transition the vehicle from grip driving to drift driving, wherein determining to transition the vehicle from grip driving to drift driving comprises correlating the first data to a multi-dimensional graph or matrix of operational states of the vehicle partitioned into grip driving regions and drift driving regions.
A computer-implemented method comprising:
- receiving first data associated with a current operational state of a vehicle and second data associated with a contextual environment in which the vehicle operates;
- based on the first data and the second data, planning a trajectory for the vehicle which involves a transition from grip driving to drift driving, wherein the planning comprises correlating the first data to a multi-dimensional graph or matrix of operational states of the vehicle partitioned into grip driving regions and drift driving regions;
- and
- executing the planned trajectory for the vehicle.
A vehicle comprising:
- one or more processors including machine executable instructions in non-transitory memory to cause the vehicle to:
- receive a data associated with a current operational state of the vehicle;
- determine to transition the vehicle from grip driving to drift driving by correlating the data to a multi-dimensional graph or matrix of operational states of the vehicle partitioned into grip driving regions in which the vehicle is operated within a peak frictional force of the vehicle's tires and drift driving regions in which the vehicle is operated beyond the peak frictional force of the vehicle's tires;
- and
- effectuate the transition between grip driving and drift driving by sending control signals to at least one of a steering-by-wire system, a throttle-by-wire system, a clutch-by-wire system, and a brake-by-wire system, each actualizing sent control signals.
Dependencies are inferred from the claim text.