Patent ID: 9731755
Date: 2017-08-15
CPC Classifications: B62D,G05D

Claim:
1. A method for providing lateral steering control for an autonomously driven or semi-autonomously driven vehicle traveling along a roadway, said method comprising: providing a mathematical model of vehicle dynamics that includes a state variable, a steering control variable and a future roadway disturbance factor that defines curvature, bank and/or slope of the roadway, wherein providing a mathematical model includes providing a four-degree of freedom mathematical model or a six-degree of freedom mathematical model where the model uses a one-track bicycle model for the four-degree of freedom mathematical model and uses a combination of a one-track bicycle model and a one-degree of freedom steering model for the six-degree of freedom mathematical model; determining a steering control goal using the steering control variable that reduces a difference between a current vehicle path and a desired vehicle path; determining an optimal steering control signal using the mathematical model that provides the steering control goal and that includes a feedback portion and a feed-forward portion, where the feed-forward portion includes the road disturbance factor; and providing the control signal to a steering controller.