Path tracking control for self-driving of vehicle with yaw moment distribution
US11845422B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 29, 2021 |
| Grant date | Dec 19, 2023 |
| Priority date | — |
| Expiry date | Apr 6, 2042 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2720/30
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A method includes determining a desired yaw moment to be applied to an ego vehicle during travel. The method also includes identifying yaw moment changes that are achievable using different torque vectoring techniques supported by the ego vehicle. The method further includes selecting at least one of the torque vectoring techniques based on the identified yaw moment changes. In addition, the method includes using the at least one selected torque vectoring technique to obtain the desired yaw moment and create lateral movement of the ego vehicle during the travel. In some cases, a desired response time associated with the lateral movement of the ego vehicle may be used, where steering control provides a faster response time and torque vectoring control provides a slower response time. The at least one torque vectoring technique may be selected based on different energy efficiencies associated with different ones of the torque vectoring techniques.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.