Patent ID: 11897452
Assignee: C.R.F. SOCIETà CONSORTILE PER AZIONI
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. An automotive electronic lateral dynamics control system of an autonomous motor vehicle, comprising:
a lateral driving path planner designed to plan a lateral driving path of the autonomous motor vehicle and defined by a reference curvature (ρref), a reference heading (∈ref), and a reference lateral position (ylref) of the autonomous motor vehicle;
an automotive electronic driving stability control system designed to control an automotive braking system to apply to the autonomous motor vehicle a yaw torque (Tyawref) to hinder a driving instability condition of the autonomous motor vehicle; and
an automotive electronic steering control system designed to control an automotive steering system to apply to the autonomous motor vehicle a steering angle or torque (δswref, Tswref) to cause the autonomous motor vehicle to follow the lateral driving path planned by the lateral driving path planner;
wherein the automotive electronic lateral dynamics control system is designed to cause an intervention of the automotive electronic steering control system to take account of an intervention of the automotive electronic driving stability control system by:
the planned lateral driving path of the autonomous motor vehicle being computed based on automotive quantities either measured or computed and indicative of:
a current lateral driving path of the autonomous motor vehicle and defined by a road curvature (ρ) and heading (∈) and lateral position (yi) of the autonomous motor vehicle, and
a current dynamic state of the autonomous motor vehicle and defined by a yaw rate ({dot over (ψ)}), a lateral acceleration (ay), a longitudinal speed (Vx), and a steering angle (δsw); and
the steering angle or torque (δswref, Tswref) to be applied by the automotive steering system to the autonomous motor vehicle to cause it to follow the planned lateral driving path being computed based on the automotive quantities that define the planned lateral driving path of the autonomous motor vehicle and on a reference yaw rate ({dot over (ψ)}ref), computed based on the reference curvature (ρref) of the planned lateral driving path and on a longitudinal speed (Vx) of the autonomous motor vehicle.