Predictive road banking for vehicles on unmapped roads

A system for predictive vehicle road bank control on an unmapped road, the system comprising:

• a sensor, within a vehicle, configured to capture upcoming cross-slope roadway characteristics of the unmapped road, wherein the unmapped road comprises an absence of known cross-slope roadway characteristics;
• a trajectory control system, within the vehicle, configured to generate a road model map based on the upcoming cross-slope roadway characteristics of the unmapped road;
• a bank prediction observer, within the vehicle, configured to predict, based on the road model map, one or more bank angles at multiple look-ahead points of the unmapped road, wherein predicting the one or more bank angles of the multiple look-ahead points is based on a look-ahead vehicle curvature and a current road bank angle received from an inertial measurement unit of the vehicle;
• and
• a steering control system, within the vehicle, configured to generate, based on the one or more bank angles, one or more steering control signals to compensate for the one or more bank angles at the multiple look-ahead points.

A method for predictive vehicle road bank control on an unmapped road, the method comprising:

• receiving, based on sensor data within a vehicle, upcoming cross-slope roadway characteristics of the unmapped road, wherein the unmapped road comprises an absence of known cross-slope roadway characteristics, and wherein the sensor data comprises data from a front camera module or a light detecting and ranging (LIDAR) sensor;
• creating, by the vehicle, a road model map based on the upcoming cross-slope roadway characteristics of the unmapped road;
• predicting, based on the road model map, one or more bank angles at multiple look-ahead points of the unmapped road, wherein the predicting of the one or more bank angles at the multiple look-ahead points of the unmapped road comprises inputs from a high definition map, an inertial measurement unit, and the front camera module of the vehicle;
• generating, by the vehicle, based on the one or more bank angles, one or more steering control signals to compensate for the one or more bank angles at the multiple look-ahead points, wherein the generating the one or more steering control signals comprises inputs from a wheel speed sensor, the inertial measurement unit, and a steering angle sensor;
• and
• determining if the predicted one or more bank angles at the multiple look-ahead points exceeds a threshold limit.