Methods and apparatus for robust trajectory control of an autonomous vehicle

Patent metadata

Field	Value
Publication number	US-10196086-B2
Application number	US-201615234413-A
Country	US
Kind code	B2
Filing date	Aug 11, 2016
Priority date	Aug 11, 2016
Publication date	Feb 5, 2019
Grant date	Feb 5, 2019

Abstract

A method for performing autonomous operation of a vehicle is provided. The method identifies, by at least one processor, an error condition of an electric power steering (EPS) device onboard the vehicle; obtains, by the at least one processor, input trajectory data for the autonomous operation of the vehicle; calculates, by the at least one processor, a feedforward rear steer angle, based on the input trajectory data; calculates, by the at least one processor, a feedback signal of the feedforward rear steer angle; calculates, by the at least one processor, a final steer angle command, using the feedforward rear steer angle and the feedback signal; and operates a steering mechanism of the vehicle using the final steer angle command, to autonomously maneuver the vehicle according to the final steer angle command.

First claim

What is claimed is:

1. A method for performing autonomous operation of a vehicle, the method comprising:
identifying, by at least one processor, an error condition of an electric power steering (EPS) device onboard the vehicle, the error condition rendering the EPS device non-functional for the autonomous operation of the vehicle and creating an offset between a defined path and an actual vehicle position; and
in response to identifying the error condition,
obtaining, by the at least one processor, input trajectory data for the autonomous operation of the vehicle, wherein the input trajectory data comprises the defined path for the vehicle to travel between lane markings on a road, the defined path being previously calculated based on images of lane markings captured by a vehicle onboard camera system;
calculating, by the at least one processor, a feedforward rear steer angle, based on the input trajectory data, by:
calculating a desired path using the input trajectory data, the desired path comprising a plurality of coordinates based on current coordinates of the vehicle and the defined path, and the desired path further comprising a desired path curvature, a desired path heading, and a desired path lateral offset;
obtaining a longitudinal acceleration and a front steer angle for the vehicle, via one or more vehicle onboard sensors; and
calculating the feedforward rear steer angle using the longitudinal acceleration, the front steer angle, and an understeer coefficient defined as a function of the desired path curvature;

accumulating lateral offset error data for the front steer angle using an integral state, to generate accumulated lateral offset error data;
calculating, by the at least one processor, a feedback signal of the feedforward rear steer angle, using input signals including the feedforward rear steer angle, the accumulated lateral offset error data, the front steer angle, the desired path heading, and the desired path lateral offset;
combining a feedforward rear steer angle command and a feedback rear steer angle command to calculate, a final steer angle command, by the at least one processor, the feedforward rear steer angle command comprising the feedforward rear steer angle, and the feedback rear steer angle command comprising the feedback signal; and
operating a steering mechanism of the vehicle using the final steer angle command, to autonomously maneuver the vehicle according to the final steer angle command.

2. The method of claim 1 , further comprising:
obtaining, by the at least one processor, vehicle sensor data; and
calculating the feedback signal using computed parameters and the vehicle sensor data.

3. The method of claim 2 , wherein the computed parameters comprise at least the feedforward rear steer angle, the desired path heading, a desired path lateral offset, the front steer angle, a real-time cost function, and real-time state space matrices.

4. The method of claim 2 , wherein the vehicle sensor data comprises at least a lateral velocity of the vehicle, and a yaw rate of the vehicle.

5. The method of claim 1 , further comprising:
recognizing the feedforward rear steer angle and the front steer angle as disturbances to the autonomous operation of the vehicle; and
calculating the feedback signal of the feedforward rear steer angle using linear quadratic regulator (LQR) strategies, in response to the disturbances.

6. The method of claim 1 , further comprising:
recognizing the feedforward rear steer angle and the front steer angle as disturbances to the autonomous operation of the vehicle; and
calculating the feedback signal of the feedforward rear steer angle using model predictive control (MPC) strategies, in response to the disturbances.

7. A system for performing autonomous operation of a vehicle, the system comprising:
a system memory element;
a steering mechanism for the vehicle, the steering mechanism configured to autonomously maneuver the vehicle according to a final steer angle command; and
at least one processor communicatively coupled to the system memory element, and the steering mechanism, the at least one processor configured to:
identify an error condition of an electric power steering (EPS) device onboard the vehicle, the error condition rendering the EPS device non-functional for the autonomous operation of the vehicle and creating an offset between a defined path and an actual vehicle position; and
in response to identifying the error condition,
obtain input trajectory data for the autonomous operation of the vehicle, wherein the input trajectory data comprises the defined path for the vehicle to travel between lane markings on a road, the defined path being previously calculated based on images of lane markings captured by a vehicle onboard camera system;
calculate a feedforward rear steer angle, based on the input trajectory data, by:
calculating a desired path using the input trajectory data, the desired path comprising a plurality of coordinates based on current coordinates of the vehicle and the defined path, and the desired path further comprising a desired path curvature, a desired path heading, and a desired path lateral offset;
obtaining a longitudinal acceleration and a front steer angle for the vehicle, via one or more vehicle onboard sensors; and
calculating the feedforward rear steer angle using the longitudinal acceleration, the front steer angle, and an understeer coefficient defined as a function of the desired path curvature;

accumulate lateral offset error data for the front steer angle using an integral state, to generate accumulated lateral offset error data;
calculate a feedback signal of the feedforward rear steer angle, using input signals including the feedforward rear steer angle, the accumulated lateral offset error data, the front steer angle, the desired path heading, and the desired path lateral offset;
combining a feedforward rear steer angle command and a feedback rear steer angle command to calculate the final steer angle command, the feedforward rear steer angle command comprising the feedforward rear steer angle, and the feedback rear steer angle command comprising the feedback signal; and
initiate operation of the steering mechanism using the final steer angle command.

8. The system of claim 7 , further comprising:
a plurality of vehicle sensors, configured to obtain vehicle sensor data comprising at least a lateral velocity of the vehicle and a yaw rate for the vehicle;
wherein the at least one processor is further configured to calculate the feedback signal using computed parameters and vehicle sensor data.

9. The system of claim 8 , wherein the computed parameters comprise at least the feedforward rear steer angle, the desired path heading, the desired path lateral offset, the front steer angle, a real-time cost function, and real-time state space matrices.

10. The system of claim 7 , wherein the steering mechanism comprises a rear wheel steering controller.

11. The system of claim 7 , wherein the steering mechanism comprises a front wheel steering controller.

12. The system of claim 7 , wherein the steering mechanism comprises a differential brake steering controller.

13. A trajectory control system onboard a vehicle configured for autonomous operation, the trajectory control system comprising:
at least one processor, configured to:
identify an error condition of an electric power steering (EPS) device onboard the vehicle, the error condition rendering the EPS device non-functional for the autonomous operation of the vehicle and creating an offset between a defined path and an actual vehicle position; and
in response to ident

Assignees

• Gm Global Tech Operations Llc

Inventors

• Gupta Pinaki
• Lee Jin-Woo

Classifications

• G01C21/26

  specially adapted for navigation in a road network · CPC title

• B62D9/005

  Emergency systems using brakes for steering · CPC title

• B62D7/159

  characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition · CPC title

• B62D6/008

  Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications · CPC title

• B62D6/002

  computing target steering angles for front or rear wheels (B62D7/159 takes precedence) · CPC title