Autonomous vehicle and method of compensating steering error thereof
AssigneesHyundai Motor Company, Kia Corporation
InventorChan Il PARK
Life of this patent
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Abstract
An apparatus of a vehicle comprises a processor and a memory storing at least one instruction that, when executed by the processor communicating with the memory, causes the apparatus to determine, based on motion data of the vehicle and road information about a lane, a steering angle required for the vehicle, driving autonomously, to follow the lane, obtain an estimated steering error associated with the steering angle, adjust, based on the estimated steering error, the steering angle, output a signal indicating a difference between the adjusted steering angle and a measured steering angle of the vehicle, and control, based on the signal, a steering operation of the vehicle for transitioning from the driving autonomously to manually by a driver of the vehicle.
Claims20
An apparatus of a vehicle, the apparatus comprising:
- a processor;
- and
- a memory storing at least one instruction that, when executed by the processor communicating with the memory, is configured to cause the apparatus to:
- obtain a motion signal of the vehicle and recognition information of a front area of the vehicle,
- determine, based on the motion signal and the recognition information, a required steering angle for the vehicle and an estimated error value in the required steering angle,
- generate, based on the estimated error value, a tracking torque, wherein the tracking torque is a torque for the vehicle to follow the required steering angle,
- obtain a driver assist torque and a steering angle control torque ratio,
- generate an integrated steering torque based on the tracking torque, the driver assist torque, and the steering angle control torque ratio, and
- during a driving operation of the vehicle, provide the integrated steering torque as a rotational torque to front wheels of the vehicle.
A method performed by an apparatus of a vehicle, the method comprising:
- obtaining steering error data of the vehicle, wherein the steering error data is associated with a plurality of torque utilization rates and a plurality of required steering angles;
- generating, based on the obtained steering error data, a table, wherein the table associates a torque utilization rate of the plurality of torque utilization rates and a required steering angle of the plurality of required steering angles with a corresponding estimated error value;
- obtaining an estimated error value from the table using the torque utilization rate and the required steering angle as inputs;
- adjusting, based on the estimated error value, the required steering angle;
- and
- changing, based on the adjusted steering angle, operation of the vehicle.
An apparatus of a vehicle, the apparatus comprising:
- a processor;
- and
- a memory storing at least one instruction that, when executed by the processor communicating with the memory, is configured to cause the apparatus to:
- determine, based on motion data of the vehicle and road information about a lane, a steering angle required for the vehicle, driving autonomously, to follow the lane,
- obtain an estimated steering error associated with the steering angle,
- adjust, based on the estimated steering error, the steering angle,
- output a signal indicating a difference between the adjusted steering angle and a measured steering angle of the vehicle, and
- control, based on the signal, a steering operation of the vehicle for transitioning from the driving autonomously to manually by a driver of the vehicle.
Dependencies are inferred from the claim text.