A vehicle comprises: an advanced driver assistance system (ADAS) generating a command for an aspect of vehicle motion; an actuator for controlling the aspect of the vehicle motion, the actuator connected to the ADAS; and a bias estimator circuit that estimates a bias between the command for the aspect of vehicle motion and an effective vehicle motion aspect, the bias estimator circuit estimating the bias using an operator that predicts a next timestep of nonlinear functions of vehicle state, wherein the command for the aspect of vehicle motion is corrected using the bias estimated by the bias estimator circuit to provide a corrected command for the aspect of vehicle motion for use by the actuator.
ESTIMATING AND CORRECTING BIAS IN VEHICLE MOTION CONTROL
SCHÄTZUNG UND KORREKTUR DER VORSPANNUNG IN DER FAHRZEUGBEWEGUNGSSTEUERUNG
ESTIMATION ET CORRECTION DE BIAIS DANS UNE COMMANDE DE MOUVEMENT DE VÉHICULE
2025-06-18
Patent
Electronic Resource
English
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