Systems and method for driver centric automation
AssigneeSteering Solutions IP Holding Corporation
InventorArash Hosseinian Ahangarnejad
Life of this patent
Estimating the term…
Abstract
A method for steering control includes receiving at least one steering input value, receiving at least one vehicle speed value, and determining, based on the at least one steering input value and the at least one vehicle speed value, a vehicle sideslip angle and a yaw rate. The method also includes generating an initial steering control value based on the vehicle sideslip angle, the yaw rate, and a reference yaw rate value. The method also includes determining a final steering control value based on the initial steering control value and the at least one steering input value, and selectively controlling at least one aspect of a vehicle steering system based on the final steering control value.
Claims20
A method for steering control, the method comprising:
- receiving at least one steering input value;
- receiving at least one vehicle speed value;
- determining, based on the at least one steering input value and the at least one vehicle speed value, a vehicle sideslip angle and a yaw rate;
- generating a reference yaw rate value (i) based on the at least one steering input value, the at least one vehicle speed value, and a tire-road friction coefficient, and (ii) constrained by at least one hard constraint of at least one associated actuator;
- generating an initial steering control value based on the vehicle sideslip angle, the yaw rate, and the reference yaw rate value;
- determining a final steering control value based on the initial steering control value and the at least one steering input value;
- and
- selectively controlling at least one aspect of a vehicle steering system based on the final steering control value.
A system for steering control, the system comprising:
- a processor;
- and
- a memory including instructions that, when executed by the processor, cause the processor to:
- receive at least one steering input value;
- receive at least one vehicle speed value;
- determine, based on the at least one steering input value and the at least one vehicle speed value, a vehicle sideslip angle and a yaw rate;
- generating a reference yaw rate value (i) based on the at least one steering input value, the at least one vehicle speed value, and a tire-road friction coefficient, and (ii) constrained by at least one hard constraint of at least one associated actuator;
- generate an initial steering control value based on the vehicle sideslip angle, the yaw rate, and the reference yaw rate value;
- determine a final steering control value based on the initial steering control value and the at least one steering input value;
- and
- selectively control at least one aspect of a vehicle steering system based on the final steering control value.
An apparatus for steering control, the apparatus comprising:
- a processor;
- and
- a memory including instructions that, when executed by the processor, cause the processor to:
- receive at least one steering input value;
- receive at least one vehicle speed value;
- determine, based on the at least one steering input value and the at least one vehicle speed value and using a non-linear bicycle model, a vehicle sideslip angle and a yaw rate;
- generate a reference yaw rate value (i) based on the at least one steering input value, the at least one vehicle speed value, and a tire-road friction coefficient, and (ii) constrained by at least one hard constraint of at least one associated actuator;
- generate an initial steering control value based on the vehicle sideslip angle, the yaw rate, and the reference yaw rate value;
- determine a final steering control value based on the initial steering control value and the at least one steering input value;
- and
- selectively control at least one aspect of a vehicle steering system based on the final steering control value.
Dependencies are inferred from the claim text.