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    Autonomous lateral control of vehicle using direct yaw moment control

    Autonomous lateral control of vehicle using direct yaw moment control

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    A method includes identifying a path to be followed by an ego vehicle. The method also includes determining a desired yaw rate and a desired yaw acceleration for the ego vehicle based on the identified path. The method further includes determining a desired yaw moment for the ego vehicle based on the desired yaw rate and the desired yaw acceleration. In addition, the method includes distributing the desired yaw moment to multiple wheels of the ego vehicle such that the distributed desired yaw moment creates lateral movement of the ego vehicle during travel along the identified path. In some cases, the desired yaw rate and the desired yaw acceleration for the ego vehicle may be determined based on nonlinear kinematics of the ego vehicle, and the desired yaw moment for the ego vehicle may be determined based on a single-track dynamic model of the ego vehicle.

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    Titel :

    Autonomous lateral control of vehicle using direct yaw moment control

    Beteiligte:
    KIM KILSOO (Autor:in) / CHOI JONGMOO (Autor:in) / SHANBHAG VISHAL U (Autor:in) / JAN LUNG EN (Autor:in) / SINGH AVIRAL K (Autor:in) / PUCCI PAOLO E (Autor:in)
    Erscheinungsdatum :

    2023-12-19

    Medientyp :

    Patent

    Format :

    Elektronische Ressource

    Sprache :

    Englisch

    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion

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