US 2025/0018940 A1 · VEHICLE SYSTEMS AND AUTONOMOUS LANE DEPARTURE MITIGATION METHODS

Abstract

Vehicles and related systems and methods are provided for mitigating lane departures, alternatively referred to as lane keeping assistance. One method of assisting vehicle operation involves determining a control trajectory for the vehicle over a prediction horizon that satisfies one or more steering angle constraints for operating a steering system of the vehicle based at least in part on a current steering angle, a first difference between the control trajectory and a reference lateral trajectory for the vehicle and a second difference between the control trajectory and a lane boundary, for example, by minimizing a weighted sum of the differences. The method continues by determining a steering angle command for the vehicle based at least in part on the control trajectory and autonomously operating one or more actuators onboard the vehicle in accordance with the steering angle command prior to the vehicle crossing the lane boundary.

Claims20

Dependent claims

A method of assisting operation of a vehicle, the method comprising:

obtaining, by a controller associated with the vehicle, a reference lateral trajectory for the vehicle;
obtaining, by the controller, a current steering angle associated with the vehicle;
determining, by the controller, a control trajectory for the vehicle over a prediction horizon that satisfies one or more steering angle constraints for operating the vehicle based at least in part on the current steering angle, a first difference between the control trajectory and the reference lateral trajectory and a second difference between the control trajectory and a lane boundary;
determining, by the controller, a steering angle command for the vehicle based at least in part on the control trajectory;
and
autonomously operating, by the controller, one or more actuators onboard the vehicle in accordance with the steering angle command prior to the vehicle crossing the lane boundary.

3 more elements

A non-transitory computer-readable medium comprising executable instructions that, when executed by a processor, cause the processor to provide a model predictive control system configurable to:

obtain a reference lateral trajectory for a vehicle;
obtain a current steering angle associated with the vehicle;
determine a control trajectory for the vehicle over a prediction horizon that satisfies one or more steering angle constraints for operating the vehicle based at least in part on the current steering angle, a first difference between the control trajectory and the reference lateral trajectory and a second difference between the control trajectory and a lane boundary;
determine a steering angle command for the vehicle based at least in part on the control trajectory;
and
autonomously operate one or more actuators onboard the vehicle in accordance with the steering angle command prior to the vehicle crossing the lane boundary.

3 more elements

A vehicle comprising:

a steering system;
one or more actuators associated with the steering system;
and
a controller coupled to the one or more actuators that, by a processor, is configurable to:
obtain a reference lateral trajectory for the vehicle;
obtain a current steering angle associated with the steering system of the vehicle;
identify a lane boundary for a current lane of travel for the vehicle;
determine a control trajectory for the vehicle over a prediction horizon that satisfies one or more steering angle constraints for operating the steering system based at least in part on the current steering angle, a first difference between the control trajectory and the reference lateral trajectory and a second difference between the control trajectory and the lane boundary;
determine a steering angle command for the one or more actuators based at least in part on the control trajectory;
and
autonomously operate the one or more actuators onboard the vehicle in accordance with the steering angle command to control a subsequent steering angle associated with the steering system prior to the vehicle crossing the lane boundary.

8 more elements

Dependencies are inferred from the claim text.

Vehicle systems and autonomous lane departure mitigation methods

Life of this patent

Vehicle systems and autonomous lane departure mitigation methods

Life of this patent

Abstract

Claims20