The present invention generally relates to closed-loop control methods, a computer program product and an open-loop control device (28) for a motor vehicle (24). The closed-loop control method is configured for the cooperative vehicle lateral guidance of a motor vehicle (24) with respect to a reference trajectory by means of an overall closed control loop (12) of a vehicle closed-loop control unit (26). The overall closed control loop (12) comprises at least one first closed-loop control module (18) and one second closed-loop control module (20). The first closed-loop control module (18) has a dynamic open-loop pilot controller (14) having a virtual closed control loop (22) which is configured to take into account a steering wheel state based on a manual steering input for influencing the vehicle lateral guidance. The second closed-loop control module (20) has a non-linear adaptive model-predictive closed-loop controller which is configured to compensate for at least one unknown estimated disturbance state based on at least one disturbance variable which causes a deviation of the vehicle lateral guidance from the reference trajectory.
COOPERATIVE VEHICLE LATERAL GUIDANCE CLOSED-LOOP CONTROL, COMPUTER PROGRAM PRODUCT AND OPEN-LOOP CONTROL DEVICE FOR A MOTOR VEHICLE
2025-01-02
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
European Patent Office | 2024
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