US 12,715,419 B2Granted

Trajectory control system for automated driving including feedforward and model predictive control

AssigneeGM Global Technology Operations LLC

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

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Abstract

A vehicle includes an electronic power steering (EPS) system configured to steer front wheels of the vehicle in response to a steering command. A trajectory control module is configured to generate the steering command. The trajectory control module includes a perception module configured to identify a target path for the vehicle and a planning module configured to determine a blend path for the vehicle to the target path. A control module includes a feedforward module configured to generate a feedforward steering command, a model predictive control module configured to generate a feedback steering command in response to the feedforward steering command and model predictive control, and a summer configured to generate the steering command in response to a sum of the feedforward steering command and the feedback steering command.

Claims20

Dependent claims

A vehicle comprising:

an electronic power steering (EPS) system configured to steer front wheels of the vehicle in response to a steering command;
and
a trajectory control module configured to generate the steering command and including:
a perception module configured to identify a target path for the vehicle;
a planning module configured to determine a blend path for the vehicle to the target path;
and
a control module including:
a feedforward module configured to generate a feedforward steering command;
a model predictive control module configured to generate a feedback steering command in response to the feedforward steering command, model predictive control, and a cost function, wherein the cost function is based on a lateral position error, a lateral velocity error, a heading error, a yaw rate error, a first weight for the lateral position error, a second weight for the lateral velocity error, a third weight for the heading error, and a fourth weight for the yaw rate error;
and
a summer configured to generate the steering command in response to a sum of the feedforward steering command and the feedback steering command.

8 more elements

A method for controlling a trajectory of a vehicle, comprising:

identifying a target path for the vehicle;
determining a blend path for the vehicle to the target path;
generating a feedforward steering command;
generating a feedback steering command in response to the feedforward steering command and model predictive control, wherein the feedback steering command is based on a cost function and the cost function is based on a lateral position error, a lateral velocity error, a heading error, a yaw rate error, a first weight for the lateral position error, a second weight for the lateral velocity error, a third weight for the heading error, and a fourth weight for the yaw rate error;
summing the feedforward steering command and the feedback steering command to generate a steering command;
and
controlling a steering system of the vehicle in response to the steering command.

4 more elements

A trajectory control system for a vehicle, comprising:

a feedforward module configured to generate a feedforward steering command;
a model predictive control module configured to generate a feedback steering command in response to the feedforward steering command and model predictive control;
a summer configured to sum the feedforward steering command and the feedback steering command to generate a steering command;
and
an electronic power steering (EPS) system configured to adjust a steering angle of wheels of the vehicle in response to the steering command,
wherein the feedforward module generates the feedforward steering command based on:
-
k
κ
,
(
L
+
K
us
⁢
v
x
2
)
[
6
x
mp
2
⁢
(
1
-
2
⁢
r
LA
)
⁢
0
⁢
2
x
mp
⁢
(
2
-
3
⁢
r
LA
)
⁢
0
]
⁢
e
+
k
κ
(
L
+
K
us
⁢
v
x
2
)
⁢
κ
d
where kk′ is a curvature error gain, κBP is a curvature of a blend path, L is a wheelbase of the vehicle, Kus is a learned understeer coefficient, Vx is a longitudinal speed, κd is a desired curvature, xmp is a merge point distance to a blend path, rLA is equal to xc/xmp, e is an error matrix, and xc is a distance to a location between the vehicle and xmp, and
wherein the model predictive control module generates the feedback steering command in response to cost calculations based on:
V
=
1
2
⁢
∑
k
=
1
p
{
(
y
-
y
ref
)
2
⁢
W
y
+
(
v
y
-
v
y
ref
)
2
⁢
W
v
y
+
(
ψ
-
ψ
ref
)
2
⁢
W
ψ
+
(
ψ
.
-
ψ
.
ref
)
2
⁢
W
ψ
.
+
(
u
-
u
ref
)
2
⁢
W
u
+
(
u
k
+
u
k
-
1
)
2
⁢
W
Δ
⁢
u
+
ϵ
2
⁢
W
ϵ
}
where V is a cost function, y is a lateral position of the vehicle, u is a measured steering angle, uref is a steering angle command, Wy is a weight for lateral position error, WVy is a weight for lateral velocity error, Wψ is a weight for heading error, W{dot over (ψ)} is a yaw rate error, Wu is a command error weight, WΔu is a command rate weight, ϵ is a constant and Wϵ is a weight for ϵ, uk is a current iteration of the steering command, uk-1 is a prior iteration of the steering command, and p is a constant.

164 more elements

Dependencies are inferred from the claim text.

Facts

Application: 18/984,412Filed 17 Dec 2024
Published: US 2026/0167172 A118 Jun 2026
Granted: 25 Aug 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification13 codes

B60W 10/20
Conjoint control of vehicle sub-units of different type or different function: including control of steering systems
B60W 20/11
Controlling the power contribution of each of the prime movers to meet required power demand: using model predictive control [MPC] strategies,…
B60W 30/10
Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of…:…
B60W 30/12
Path keeping: lane keeping