Autonomous vehicle steering control methods and systems
AssigneeGM Global Technology Operations LLC
InventorsPINAKI GUPTA, NIKHIL L. HOSKERI
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Abstract
Methods, apparatus and systems are provided for steering a vehicle, for example, during autonomous operation. One exemplary method involves operating a locking system associated with a first set of one or more wheels of the vehicle to lock an angle of the wheel(s) and detecting a steering adjustment condition based on the angle during subsequent operation of the vehicle. In response to the steering adjustment condition, the locking system is operated in an intermediate mode, and then thereafter operated to relock the angle of the wheel(s) based on monitoring the angle of the wheel(s) during operation in the intermediate mode.
Claims20
A method of steering a vehicle, the method comprising:
- operating a locking system associated with a first set of one or more wheels of the vehicle to lock an angle of the first set;
- detecting a steering adjustment condition based on the angle during operation of the vehicle;
- and
- in response to the steering adjustment condition:
- operating the locking system in an intermediate mode;
- and
- thereafter operating the locking system to relock the angle of the first set based on the angle of the first set during operation in the intermediate mode.
A vehicle comprising:
- a locking system coupled to a first set of one or more wheels to selectively lock a first angle of the first set;
- a steering system coupled to a second set of one or more wheels to control a second angle of the second set;
- and
- a control system coupled to the locking system and the steering system, wherein the control system is configured to:
- command the locking system for a locked mode to lock the first angle;
- determine roadway curvature characteristics associated with a current location of the vehicle;
- command the steering system to adjust the second angle based on the roadway curvature characteristics when the first angle is locked;
- detect a steering adjustment condition based on the first angle and the roadway curvature characteristics;
- and
- command the locking system for an intermediate mode in response to the steering adjustment condition to unlock the first angle.
A locking system comprising:
- a locking mechanism having a range of motion;
- an actuation arrangement coupled to the locking mechanism;
- a first control module coupled to the actuation arrangement to obtain and output sensed information indicative of a status of the actuation arrangement;
- a second control module coupled to the first control module and the actuation arrangement to command the actuation arrangement based on the sensed information indicative of the status of the actuation arrangement, wherein in response to an intermediate mode command, the second control module is configured to operate the actuation arrangement until the locking mechanism resides at an intermediate position within the range of motion.
Dependencies are inferred from the claim text.