A current state of a vehicle e.g. internal or environmental condition, is identified. Vehicle path curvature limits or boundaries are determined, which indicates the maximum curvature capability 99, for a left or right turn. A curvature performance profile to follow is determined based at least in part the vehicle path curvature limits. A direction of the vehicle e.g. steering is controlled based at least in part the curvature performance profile. An internal vehicle state may be found from a steering wheel angle, vehicle speed, CAN bus status etc. Environmental conditions may include road grade, road bank, surface friction or temperature. The vehicle state may also include lateral acceleration, wheel angle, yaw rate or path radius. Curvature limits may also be found from steering or other vehicle dynamic models. The curvature limits may also be regenerated by interpolating at least one discrete value of the curvature limits.
Vehicle curvature determination
2017-08-02
Patent
Electronic Resource
English
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |