Apparatus, method and computer readable medium for calculating target steering angle considering yaw moment by torque vectoring when turning driving of electric vehicle in autonomous driving
AssigneesHyundai Motor Company, Kia Corporation
InventorGwi Chul KIM
Life of this patent
Estimating the term…
Abstract
An apparatus of determining a target steering angle, may include: a feedforward steering angle calculator configured for determining a feed forward steering angle reflecting a yaw moment generated by torque vectoring during turning driving of an electric vehicle in autonomous driving; and an adder configured for obtaining a target steering angle by adding the determined feedforward steering angle to a feedback steering angle, the feedback steering angle being a steering angle measured through a steering angle sensor.
Claims13
An apparatus of determining a target steering angle, the apparatus comprising:
- a feedforward steering angle calculator configured for determining a feed forward steering angle reflecting a yaw moment generated by torque vectoring during turning driving of an electric vehicle in autonomous driving;
- and
- an adder configured for obtaining the target steering angle by adding the determined feedforward steering angle to a feedback steering angle, the feedback steering angle being a steering angle measured through a steering angle sensor.
A method for determining a target steering angle, the method comprising:
- determining, by a processor, a feedforward steering angle by reflecting a yaw moment generated by torque vectoring during turning driving of an electric vehicle in autonomous driving;
- and
- obtaining, by the processor, a target steering angle by adding the determined feedforward steering angle to a feedback steering angle, the feedback steering angle being a steering angle measured through a steering angle sensor.
The method of claim , wherein the lateral force of the tire is expressed by the following equation:
- F
- y
- ,
- F
- =
- ma
- y
-
- I
- R
- l
- -
- M
- Z
- ,
- TV
- l
- F
- y
- ,
- R
- =
- ma
- y
-
- I
- F
- l
- -
- M
- Z
- ,
- TV
- l
- where Fy,F is lateral force of a tire of the front wheel, Fy,R is lateral force of a tire of the rear wheel, m is mass of the electric vehicle, ay is lateral acceleration, IR is a length from center of gravity of the electric vehicle to the rear wheel, l is an inter-axle distance, MZ,TV is a yaw moment, and IF is a length from the center of gravity of the electric vehicle to the front wheel.
Dependencies are inferred from the claim text.