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

Claim 1:
2. The automotive electronic lateral dynamics control system of claim 1, further designed to compute:
by means of a state observer, observed automotive quantities comprising an observed heading CO, an observed lateral position (ŷl), an observed yaw rate ({circumflex over ({dot over (ψ)})}), and an observed lateral speed ({circumflex over (V)}y) of the autonomous motor vehicle; the observed automotive quantities are either computed by filtering, or estimated based on, the measured heading (∈), the road curvature (ρ) ahead of the autonomous motor vehicle, and the lateral position (yl) of the autonomous motor vehicle, which define the current driving path of the autonomous motor vehicle, the yaw rate ({dot over (ψ)}), the longitudinal speed (Vx) of the autonomous motor vehicle, 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;
a yaw rate error ({dot over (ψ)}err) based on the reference yaw rate ({dot over (ψ)}ref) and on the observed yaw rate ({circumflex over ({dot over (ψ)})}) of the autonomous motor vehicle;
a heading error (∈err) based on the reference heading (∈ref) and the observed heading ({circumflex over (∈)}) of the autonomous motor vehicle;
a lateral position error ((ylerr)) based on the reference lateral position ((ylref)) and the observed lateral position WO of the autonomous motor vehicle;
by means of a state feedback controller, a closed-loop contribution (δswCL) to the steering angle (δswref) based on the yaw rate error, heading error, and lateral position error ({dot over (ψ)}err, ∈err, ylerr) and on the observed lateral speed ({circumflex over (V)}y) of the autonomous motor vehicle;
by means of an open-loop state controller, an open-loop contribution (δswOL) to the reference steering angle (δswref) based on the reference curvature (ρref) of the planned lateral driving path and the longitudinal speed (Vx) of the autonomous motor vehicle; and
the reference steering angle (δswref) based on the closed-loop and open-loop contributions (δswCL, δswOL) to the reference steering angle (Ωswref).