Patent ID: 11884297
Assignee: NISSAN MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A control apparatus for autonomously controlling a movement of a motor vehicle that is adapted for driving on roads and that comprises at least one guiding wheel, the control apparatus comprising:
at least one movement that is adapted to influence a trajectory of the control apparatus;
an actuator for controlling the movement; and
a computer for controlling the actuator, wherein the movement corresponds to an ability of each guiding wheel to turn, the computer configured to:
acquire parameters (β, r, ΨL, eyL, δ, δref) relating to the trajectory of the vehicle; and
compute a new control setpoint (δref) of the movement of the vehicle as a function of the parameters (β, r, ΨL, eyL, δ, δref) using a closed loop transfer function that models a behavior of the vehicle,
wherein:
the parameter (β) denotes a drift angle of the vehicle,
the parameter (r) denotes a yaw rate of the vehicle,
the parameter (ΨL) denotes a relative heading angle between a longitudinal axis along a direction of travel of the vehicle and a tangent line of an avoidance trajectory of the vehicle,
the parameter (eyL) denotes a trajectory following error of the vehicle,
the parameter (δ) denotes a measured turning angle, and
the parameter (δref) denotes a saturated turning angle setpoint,

wherein the closed loop transfer includes:
a setpoint variation limiter model (T1) for a turning speed of the wheel with an unsaturated turning angle setpoint (δK) as input and the saturated turning angle setpoint (δref) as output,
a model (T2) which represents a model of the vehicle with the saturated turning angle setpoint (δref) and disruptions as input and an output vector as output, and
a state feedback law for calculating the unsaturated turning angle setpoint (δK) based on the output vector,

wherein the controller is further configured to determine the new control setpoint (δref) in accordance with the setpoint variation limiter model (T1) that limits a variation of the saturated turning angle control setpoint (δref).