Method and arrangement for ensuring road tracking up to a predefined lateral acceleration limit using a PID controller in a vehicle

US11794805B2 · kind B2 · utility

Assignees

• ZENUITY AB · SE
• VOLVO CAR CORPORATION · SE

Inventors

• Benjamin GAUDSZUN · Bibertal, DE
• Jan VEEN · Munich, DE
• Tanja Reber · Gröbenzell, DE
• Marcus Löfgren · Onsala, SE

Key dates

• Filing date: Mar 5, 2021
• Grant date: Oct 24, 2023
• Expiry date: Nov 30, 2041

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B62D15/021
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

Methods for ensuring road tracking up to a predefined lateral acceleration limit in a vehicle having an autonomous steering function arranged to selectively apply a steering wheel overlay torque to a normal steering assistance torque in an electrical power assisted steering system of the vehicle are provided. Such methods include acquiring the predetermined lateral acceleration limit; acquiring a signal representing a current lateral acceleration of the vehicle; comparing the predetermined lateral acceleration limit with the acquired current lateral acceleration signal to obtain a controller error; setting a torque limit for the steering wheel overlay torque; and subjecting the controller error to a proportional-integral-derivative (PID) controller, which is arranged to provide the torque limit for the steering wheel overlay torque after setting the torque limit to the initial value.