The invention relates to vehicle variant independent lane centering control. Examples provide a system for performing lane centering control of a vehicle. The system includes a set of vehicle sensors configured to measure a speed of the vehicle, to measure a yaw rate of the vehicle, and to measure a lateral acceleration of the vehicle. The system also includes a lane centering controller configured to receive the requested lateral acceleration, determine a target lateral acceleration based on the requested lateral acceleration and the lateral acceleration, determine a target motor torque based on the target lateral acceleration, and determine whether a control override condition is satisfied. In response to determining that the control override condition is not satisfied, the lane centering controller controls a motor of the vehicle in accordance with the target motor torque. The target motor torque is a motor torque required to achieve the target lateral acceleration.
本发明涉及车辆变体独立车道居中控制。示例提供了一种用于执行车辆的车道居中控制的系统。该系统包括一组车辆传感器,其配置成测量车辆的速度,测量车辆的横摆速率以及测量车辆的横向加速度。该系统还包括车道居中控制器,其配置成接收请求横向加速度,基于请求横向加速度和横向加速度来确定目标横向加速度,基于目标横向加速度来确定目标马达扭矩,以及确定是否满足控制超控条件。响应于确定不满足控制超控条件,车道居中控制器根据目标马达扭矩来控制车辆的马达。该目标马达扭矩是实现目标横向加速度所需的马达扭矩。
Vehicle variant independent lane centering control
车辆变体独立车道居中控制
14.02.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Lane centering system and lane centering method for autonomous vehicle
Europäisches Patentamt | 2022
|