Lane-based vehicle operations
AssigneeFord Global Technologies, LLC
InventorsVladimir Ivanovic, Andreas Ortseifen, Hongtei Eric Tseng
Life of this patent
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Abstract
A system for a vehicle can include a computer having a processor and a memory, the memory storing instructions executable by the processor, including instructions to determine a curvature command for a vehicle based on a feedforward control action based on a road curvature, a feedback control action based on at least one of a path offset or a heading offset of a vehicle with respect to a line defining a target lane; and to operate the vehicle with respect to the line defining the target lane based on the curvature command.
Claims17
A system for a vehicle, comprising:
- a processor and a memory, the memory storing instructions executable by the processor, including instructions to
- determine a curvature command for a vehicle based on
- a feedforward control action based on a road curvature and a time to actuate a vehicle component,
- a feedback control action based on at least one of a path offset or a heading offset of a vehicle with respect to a line defining a target lane, wherein the target lane is adjacent to the current lane of travel;
- and
- then operate the vehicle with respect to the line defining the target lane based on the curvature command.
A method, comprising:
- determining a curvature command for a vehicle based on
- a feedforward control action based on a road curvature and a time to actuate a vehicle component,
- a feedback control action based on at least one of a path offset or a heading offset of a vehicle with respect to a line defining a target lane, wherein the target lane is adjacent to the current lane of travel;
- and
- then operating the vehicle with respect to the line defining the target lane based on the curvature command.
A system for a vehicle, comprising:
- a processor and a memory, the memory storing instructions executable by the processor, including instructions to
- determine a curvature command for a vehicle based on a feedforward control action based on a road curvature,
- determine a feedback control action based on a path offset and a heading offset of a vehicle with respect to a line defining a target lane, wherein the target lane is adjacent to the current lane of travel, and wherein at least one of the path offset or the heading offset are derived in part from a desired closed-loop control system natural frequency and a longitudinal speed of the vehicle;
- and
- then operate the vehicle with respect to the line defining the target lane based on the curvature command.
Dependencies are inferred from the claim text.