Methods, systems, and apparatuses for real-time adaptation of handwheel angle controls for robust automated driving to environmental conditions and model uncertainties
US11919582B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 1, 2022 |
| Grant date | Mar 5, 2024 |
| Priority date | — |
| Expiry date | Nov 17, 2042 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D6/00
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
In various embodiments, methods, systems, and vehicle apparatuses are provided. A method for lateral control of a steering system includes identifying at least one parameter of at least one lateral control feature that results in an optimized value in an outcome of control for a lateral control feature enabling robustness to an uncertainty; adaptively adjusting an output control signal generated by a vehicle trajectory controller coupled to the steering controller, by quantifying the uncertainty of an uncertain value in a lateral control feature; and sending a control command including at least a torque control or a wheel angle control to compensate for the uncertainty of the at least one uncertain value in the configuration of components of an electronic power steering (EPS) system associated with the vehicle variant by correcting at least one parameter of the at least one lateral control feature.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.