Method and apparatus for lane control of a vehicle

Patent metadata

Field	Value
Publication number	US-11820370-B2
Application number	US-202217683649-A
Country	US
Kind code	B2
Filing date	Mar 1, 2022
Priority date	Mar 4, 2021
Publication date	Nov 21, 2023
Grant date	Nov 21, 2023

Abstract

Apparatus for controlling dynamics of a vehicle determines a current course angle (α) of the vehicle. A desired course angle (α psi ) is defined and assigned to a first point on a temporal profile of a desired driving line. The first point is on the desired driving line at a first preview time from a location assigned to an instantaneous vehicle position. A course angle deviation of the current course angle (α) from the desired course angle (α psi ) is determined. A target angle (α ta ) is defined and assigned to a second point on the temporal profile of the desired driving line. The second point is on the desired driving line at a distance of a second preview time from the location. A steering wheel angle (δ) is determined as a total of the target angle (α ta ) reinforced with a first parameter and the course angle deviation reinforced with a second parameter.

First claim

What is claimed is:

1. An apparatus ( 300 ) for controlling the lateral dynamics of a vehicle, the apparatus ( 300 ) comprising: a detection device ( 302 ), an output device ( 304 ) and a computing device ( 306 ), the detection device ( 302 ) being configured to detect or to determine a current course angle (α) of the vehicle, the output device ( 304 ) being configured to output a steering wheel angle (δ) with which the vehicle is controllable, and the computing device ( 306 ) being configured to define a desired course angle (α psi ) that is assigned to a first point ( 120 ) on a temporal profile of a desired driving line ( 110 ), the first point ( 120 ) being arranged on the desired driving line ( 110 ) at a distance of a first preview time (T PreviewYaw ) from a location ( 116 ) assigned to an instantaneous vehicle position, and the computing device ( 306 ) being configured to determine a course angle deviation (α psi −α) of the current course angle (α) from the desired course angle (α psi ) and to define a target angle (α ta ) that is assigned to a second point ( 124 ) on the temporal profile of the desired driving line ( 110 ), the second point ( 124 ) being arranged on the desired driving line ( 110 ) at a distance of a second preview time(T PreviewXY ) from the location ( 116 ), and the computing device ( 306 ) being configured to determine the steering wheel angle (δ) in accordance with a sum total of the target angle (α ta ) amplified by a first parameter (P ta ) and of the course angle deviation (α psi −a) amplified by a second parameter (P psi ), the first parameter and the second parameter being known information pertaining to vehicle performance.

2. The apparatus ( 300 ) of claim 1 , wherein the computing device ( 306 ) is configured to define the first preview time (T PreviewYaw ) and to determine the first point ( 120 ) on the desired driving line ( 110 ), the first point being at a distance of the first preview time (T PreviewYaw ) from the location ( 116 ) and to define the second preview time (T PreviewXY ), and to determine the second point ( 120 ) on the desired driving line ( 110 ), the second point being at a distance of the second preview time (T PreviewXY ) from the location ( 116 ).

3. The apparatus ( 300 ) of claim 2 , wherein the computing device ( 306 ) is configured to determine a direction ( 128 ) from a point with a fixed geometrical reference with respect to the vehicle, in particular from a center of gravity ( 112 ) or front axle center point of the vehicle in accordance with a model ( 102 ) of the vehicle or from a driver's position to the second point ( 124 ), and to determine the target angle (α ta ) in accordance with an angle by which the direction ( 128 ) deviates from a vehicle longitudinal axis ( 106 ) in accordance with the model ( 102 ) of the vehicle.

4. The apparatus ( 300 ) of claim 1 , further comprising an input device ( 308 ) for inputting the first parameter (P ta ) and/or the second parameter (P psi ) and/or the first preview time (T PreviewYaw ) and/or the second preview time (T PreviewXY ).

5. A method for controlling lateral dynamics, of a vehicle, the method comprising:
detecting a current course angle (α) of the vehicle;
defining a desired course angle (α psi ) that is assigned to a first point ( 120 ) on a temporal profile of a desired driving line ( 110 ), the first point ( 120 ) being on the desired driving line ( 110 ) at a distance of a first preview time (T PreviewYaw ) from a location ( 116 ) assigned to an instantaneous vehicle position;
determining a course angle deviation (α psi −α) of the current course angle (α) from the desired course angle (α psi );
defining a target angle (α ta ) assigned to a second point ( 124 ) on the temporal profile of the desired driving line ( 110 ), the second point ( 124 ) being arranged on the desired driving line at a distance of a second preview time (T PreviewXY ) from the location ( 116 );
determining a steering wheel angle (δ) in accordance with a sum total of the target value (α ta ) amplified by a first parameter (P ta ) and of the course angle deviation (α psi −α) amplified by a second parameter (P psi ), the first parameter and the second parameter being known information pertaining to vehicle performance; and
outputting the steering wheel angle (δ).

6. The method of claim 5 , further comprising:
defining the first preview time (T PreviewYaw );
determining the first point ( 120 ) on the desired driving line ( 110 ), the first point ( 120 ) being at a distance of the first preview time (T PreviewYaw ) from the location ( 116 );
defining the second preview time (T PreviewXY ); and
determining the second point ( 124 ) on the desired driving line ( 110 ), the second point being at a distance of the second preview time (T PreviewXY ) from the location ( 116 ).

7. The method of claim 6 , further comprising: determining a direction ( 128 ) from a point with a fixed geometrical reference with respect to the vehicle in accordance with a model ( 102 ) of the vehicle or from a driver's position to the second point ( 124 ); and
determining the target angle (α ta ) in accordance with an angle by which the direction ( 128 ) deviates from a vehicle longitudinal axis ( 106 ) in accordance with the model ( 102 ) of the vehicle.

8. The method of claim 5 , further comprising identifying an input, and determining the first parameter (P ta ) and/or the second parameter (P psi ) and/or the first preview time (T PreviewYaw ) and/or the second preview time (T PreviewXY ) in accordance with the input.

Assignees

• Porsche Ag

Inventors

• Strecker Florian
• Warth Georg
• Von Tardy-Tuch Georg

Classifications

• B60W30/12 Primary

  Lane keeping · CPC title

• B60W10/20

  including control of steering systems · CPC title

• B60W40/10

  related to vehicle motion · CPC title

• B62D6/002 Primary

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

• B62D15/021

  Determination of steering angle · CPC title