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GB2584587B - Systems for Control of Understeer in an Autonomous Vehicle - Google Patents

Systems for Control of Understeer in an Autonomous Vehicle Download PDF

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Publication number
GB2584587B
GB2584587B GB1815340.3A GB201815340A GB2584587B GB 2584587 B GB2584587 B GB 2584587B GB 201815340 A GB201815340 A GB 201815340A GB 2584587 B GB2584587 B GB 2584587B
Authority
GB
United Kingdom
Prior art keywords
understeer
systems
control
autonomous vehicle
autonomous
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
GB1815340.3A
Other versions
GB201815340D0 (en
GB2584587A (en
Inventor
Fairgrieve Andrew
John King Paul
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jaguar Land Rover Ltd
Original Assignee
Jaguar Land Rover Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jaguar Land Rover Ltd filed Critical Jaguar Land Rover Ltd
Priority to GB1815340.3A priority Critical patent/GB2584587B/en
Publication of GB201815340D0 publication Critical patent/GB201815340D0/en
Priority to DE102019212933.1A priority patent/DE102019212933A1/en
Publication of GB2584587A publication Critical patent/GB2584587A/en
Application granted granted Critical
Publication of GB2584587B publication Critical patent/GB2584587B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/109—Lateral acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0013—Planning or execution of driving tasks specially adapted for occupant comfort
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
GB1815340.3A 2018-09-20 2018-09-20 Systems for Control of Understeer in an Autonomous Vehicle Active GB2584587B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
GB1815340.3A GB2584587B (en) 2018-09-20 2018-09-20 Systems for Control of Understeer in an Autonomous Vehicle
DE102019212933.1A DE102019212933A1 (en) 2018-09-20 2019-08-28 CONTROL SYSTEM FOR A VEHICLE

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB1815340.3A GB2584587B (en) 2018-09-20 2018-09-20 Systems for Control of Understeer in an Autonomous Vehicle

Publications (3)

Publication Number Publication Date
GB201815340D0 GB201815340D0 (en) 2018-11-07
GB2584587A GB2584587A (en) 2020-12-16
GB2584587B true GB2584587B (en) 2023-01-04

Family

ID=64024232

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1815340.3A Active GB2584587B (en) 2018-09-20 2018-09-20 Systems for Control of Understeer in an Autonomous Vehicle

Country Status (2)

Country Link
DE (1) DE102019212933A1 (en)
GB (1) GB2584587B (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11260875B2 (en) * 2017-12-07 2022-03-01 Uatc, Llc Systems and methods for road surface dependent motion planning
JP7235015B2 (en) * 2020-07-17 2023-03-08 トヨタ自動車株式会社 automatic steering system
CN113581289B (en) * 2021-09-01 2022-11-01 国汽智控(北京)科技有限公司 Zero offset dynamic calibration method and device, electronic equipment and storage medium
US20260028013A1 (en) * 2024-07-29 2026-01-29 GM Global Technology Operations LLC Method to effectively predict tire saturation for evasive steering and active safety control

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016172729A1 (en) * 2015-04-24 2016-10-27 Autonomous Solutions, Inc. System, apparatus, and method for controlling a vehicle
US20160313735A1 (en) * 2015-04-24 2016-10-27 Autonomous Solutions Inc. System and method for controlling a vehicle
US20160318513A1 (en) * 2015-04-30 2016-11-03 GM Global Technology Operations LLC Real-time anticipatory speed control

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016172729A1 (en) * 2015-04-24 2016-10-27 Autonomous Solutions, Inc. System, apparatus, and method for controlling a vehicle
US20160313735A1 (en) * 2015-04-24 2016-10-27 Autonomous Solutions Inc. System and method for controlling a vehicle
US20160318513A1 (en) * 2015-04-30 2016-11-03 GM Global Technology Operations LLC Real-time anticipatory speed control

Also Published As

Publication number Publication date
GB201815340D0 (en) 2018-11-07
GB2584587A (en) 2020-12-16
DE102019212933A1 (en) 2020-03-26

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