Vehicles and related systems and methods are provided for mitigating lane departures, alternatively referred to as lane keeping assistance. One method of assisting vehicle operation involves determining a control trajectory for the vehicle over a prediction horizon that satisfies one or more steering angle constraints for operating a steering system of the vehicle based at least in part on a current steering angle, a first difference between the control trajectory and a reference lateral trajectory for the vehicle and a second difference between the control trajectory and a lane boundary, for example, by minimizing a weighted sum of the differences. The method continues by determining a steering angle command for the vehicle based at least in part on the control trajectory and autonomously operating one or more actuators onboard the vehicle in accordance with the steering angle command prior to the vehicle crossing the lane boundary.


    Access

    Download


    Export, share and cite



    Title :

    VEHICLE SYSTEMS AND AUTONOMOUS LANE DEPARTURE MITIGATION METHODS



    Publication date :

    2025-01-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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



    Vehicle system and autonomous lane departure mitigation method

    JALINHARAM RAJESH / LU JIRONG / MCGROARY JAMES B et al. | European Patent Office | 2025

    Free access

    VEHICLE LANE DEPARTURE DETERMINATION METHOD AND LANE DEPARTURE DETERMINATION DEVICE

    HASHIMOTO TAKASHI / KOMATSU TAKESHI / NAKAHARA TATSURO et al. | European Patent Office | 2018

    Free access

    CONTROLLER OF LANE DEPARTURE WARNING SYSTEM, VEHICLE AND LANE DEPARTURE WARNING CONTROL METHOD

    TAKAHASHI NAOKI / TAKAHASHI SHOICHI | European Patent Office | 2018

    Free access

    CONTROLLER OF LANE DEPARTURE WARNING SYSTEM, VEHICLE AND LANE DEPARTURE WARNING CONTROL METHOD

    TAKAHASHI NAOKI / TAKAHASHI SHOICHI | European Patent Office | 2018

    Free access

    LANE DEPARTURE WARNING METHOD AND LANE DEPARTURE WARNING SYSTEM

    LI JUNHUA / GUO DAOYAN | European Patent Office | 2022

    Free access