Optimal slip angle steering control for vehicles
AssigneesConstructor Autonomous AG, Constructor Education and Research Genossenschaft
InventorsMaksim Filipenko, Ilya Shimchik, Serg Bell, Stanislav Protasov, Nikolay Dobrovolskiy
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Abstract
Systems and methods for optimizing steering angle of a vehicle. Controlling a vehicle implementing steer-by-wire including independent steering control for a wheel of the vehicle includes collecting environmental information about the vehicle, preparing an ideal steering plan for the vehicle, receiving a vehicle goal, collecting current vehicle information, determining a slip angle for the wheel, and actuating the independent steering control for wheel according to the slip angle.
Claims20
A method for controlling a vehicle implementing steer-by-wire including independent steering control for at least one wheel of the vehicle, the method comprising:
- collecting environmental information about the vehicle, the environmental information including a track configuration and at least one vehicle parameter;
- preparing an ideal steering plan for the vehicle using a model based on the environmental information;
- receiving at least one vehicle goal;
- collecting current vehicle information including identification data, mapping data, localization data, sensor data, and state estimation data for the vehicle;
- determining a slip angle for the at least one wheel based on the current vehicle information applied to the model for the at least one vehicle goal;
- and
- actuating the independent steering control for the at least one wheel of the vehicle according to the slip angle.
A system for controlling a vehicle using at least one system goal, the system comprising:
- a plurality of sensors configured to detect data associated with the vehicle;
- an artificial intelligence (AI) subsystem including:
- an offline engine configured to operate on existing information associated with the vehicle, the offline engine including an optimal control module configured to generate an ideal plan as a model for the vehicle based on mapping data, tire dynamics data, and vehicle dynamics data;
- and
- an online engine configured to operate on dynamic data associated with the vehicle, the online engine including:
- an identification module configured to determine static and dynamic vehicle parameters during vehicle operation,
- a sensor fusion module configured to synthesize data from a plurality of sensors associated with the vehicle to generate fused data,
- a state estimation module configured to determine a current state of the vehicle based on the fused data,
- a localization module configured to determine a location of the vehicle,
- a trajectory planning module configured to determine at least one slip angle for a wheel of the vehicle based on the at least one system goal applied to the ideal plan, according to the static and dynamic vehicle parameters during vehicle operation, the current state of the vehicle, and the location of the vehicle, and
- a control module configured to generate a command according to the slip angle;
- and
- a steer-by-wire subsystem including an actuator associated with at least one wheel of the vehicle for independent steering control of the at least one wheel and configured to actuate the at least one wheel according to the command.
A method for controlling a vehicle, the method comprising:
- solving a localization problem for the vehicle by determining a location of the vehicle;
- solving an estimation problem for the vehicle by determining a current state of the vehicle;
- solving an identification problem for the vehicle by determining static and dynamic vehicle parameters during vehicle operation;
- generating at least one system goal;
- receiving a change in wheel steering input;
- computing at least one steering angle for a wheel of the vehicle based on the at least one system goal, the location of the vehicle, the current state of the vehicle, and the static and dynamic vehicle parameters;
- and
- commanding a steer-by-wire subsystem to actuate the wheel of the vehicle according to the at least one steering angle.
Dependencies are inferred from the claim text.