The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 01, 2021
Filed:
Sep. 25, 2018
Continental Automotive Systems, Inc., Auburn Hills, MI (US);
Javier Alcazar, Troy, MI (US);
Continental Automotive Systems, Inc., Auburn Hills, MI (US);
Abstract
A method and system for controlling a vehicle along a curved roadway, including receiving vehicle sensed data relating to vehicle operation and/or vehicle position and orientation; identifying first and second lane markers from the sensed data; determining a reference path for the vehicle using the lane markers; calculating a feed-forward control output based upon the curvature of the lane markers; calculating a lateral position of the vehicle relative to the reference path, and a lateral position error based upon the lateral position; and calculating a vehicle heading angle based upon the vehicle sensed data, and a heading angle error. A feedback control output is calculated using a nonlinear control function based upon the lateral position error, the heading angle error, and the sensed velocity. A steering control output is generated for steering the vehicle, based upon the feed-forward control output and the feedback control output.