Search

DE-102024114206-B4 - METHOD AND SYSTEM FOR CONTROLLING A VEHICLE

DE102024114206B4DE 102024114206 B4DE102024114206 B4DE 102024114206B4DE-102024114206-B4

Abstract

Methods for steering a vehicle (10) comprising: Operating a first steering device of the vehicle (10) on the basis of a first steering instruction to exert a first steering force on the vehicle (10); Transmitting the first steering instruction from a transverse control module (302) of the vehicle (10) to the first steering device; Operating a second steering device of the vehicle (10) on the basis of a second steering instruction in order to exert a second steering force on the vehicle (10); Estimating an external lateral force on the vehicle (10) via a processor (44) based on the first steering instruction, the second steering instruction and a state of the vehicle (10); Determining a set value for the second steering instruction via the processor (44), wherein the determination of the set value for the second steering instruction takes place in a compensation module (306) of the vehicle (10) and wherein the set value generates a lateral movement of the vehicle (10) which reduces the effect of the external lateral force; Transmitting the set value of the second steering instruction from the compensation module (306) to the second steering device; and Operating the second steering device of the vehicle (10) based on the set value of the second steering instruction to exert a second steering force on the vehicle (10).

Inventors

  • VLADIMIR SUPLIN
  • Avshalom Suissa
  • Oded Yechiel

Assignees

  • GM Global Technology Operations LLC

Dates

Publication Date
20260513
Application Date
20240522
Priority Date
20240417

Claims (7)

  1. A method for controlling a vehicle (10) comprising: Operating a first steering device of the vehicle (10) based on a first steering instruction to exert a first steering force on the vehicle (10); Transmitting the first steering instruction from a lateral control module (302) of the vehicle (10) to the first steering device; Operating a second steering device of the vehicle (10) based on a second steering instruction to exert a second steering force on the vehicle (10); Estimating an external lateral force on the vehicle (10) via a processor (44) based on the first steering instruction, the second steering instruction, and a state of the vehicle (10); Determining a set value for the second steering instruction via the processor (44), wherein the determination of the set value for the second steering instruction takes place in a compensation module (306) of the vehicle (10) and wherein the set value generates a lateral movement of the vehicle (10) that reduces the effect of the external lateral force; Transmitting the set value of the second steering instruction from the compensation module (306) to the second steering device; and Operating the second steering device of the vehicle (10) based on the set value of the second steering instruction to exert a second steering force on the vehicle (10).
  2. Procedure according to Claim 1 , characterized in that the first steering device is a front wheel steering device (202) of the vehicle (10) for steering control at a front wheel (16) of the vehicle (10) and the second steering device is (i) a rear wheel steering device (204) for steering control at a rear wheel (18) of the vehicle (10) and/or (ii) a torque distribution device for steering control of the vehicle (10) and/or (iii) a single brake system (26) for steering control of the vehicle (10).
  3. Procedure according to Claim 1 , characterized in that the method further comprises determining a second steering reference at the compensation module (306) of the vehicle (10) and transmitting the second steering reference from the compensation module (306) to the lateral control module (302), wherein the lateral control module (302) generates the set value of the second steering instruction from the second steering reference.
  4. A system for controlling a vehicle (10) comprising: a first steering device for exerting a first steering force on the vehicle (10); a second steering device for exerting a second steering force on the vehicle (10); a processor (44) configured to: operate a lateral control module (302) to transmit a first steering instruction to the first steering device; operate an estimation module (304) to estimate an external lateral force exerted on the vehicle (10) based on the first steering instruction, a second steering instruction, and the state of the vehicle (10), applying the second steering instruction to the second steering device; operate a compensation module (306) to determine a set value for the second steering instruction and transmit the set value for the second steering instruction to the second steering device, the set value generating a lateral movement on the vehicle (10) that attenuates the effect of the external lateral force; and operating the second steering device of the vehicle (10) to exert the second steering force on the vehicle (10) on the basis of the set value of the second steering instruction, which reduces the external lateral force.
  5. System according to Claim 4 , characterized in that the first steering device is a front wheel steering device (202) of the vehicle (10) for steering control at a front wheel (16) of the vehicle (10) and the second steering device is (i) a rear wheel steering device (204) for steering control at a rear wheel (18) of the vehicle (10) and/or (ii) a torque distribution device for steering control of the vehicle (10) and/or (iii) a single brake system (26) for steering control of the vehicle (10).
  6. System according to Claim 4 , characterized in that the processor (44) is further configured to operate the lateral control module (302) to generate the first steering instruction using model predictive control using a steering request and the state of the vehicle (10).
  7. System according to Claim 6 , characterized in that the processor (44) is further configured to operate the compensation module (306) to determine a second steering reference and to transmit the second steering reference to the lateral control module (302), and to operate the lateral control module (302) to generate the set value for the second steering instruction from the second steering reference and to transmit the set value for the second steering instruction to the second steering device.

Description

INTRODUCTION The subject matter of the disclosure relates to lateral stability in autonomous or human-operated vehicles and in particular to a system and a method for reducing the effect of an externally exerted lateral force on the vehicle. In a vehicle, front-wheel steering is used to change the orientation of the vehicle's front wheels relative to its longitudinal axis. To ensure accurate trajectory tracking when a lateral disturbance is detected, an autonomous vehicle can take action to rapidly reduce the disturbance. However, this requires the steering wheel to move quickly and sometimes erratically. On the other hand, a smoother steering response is desirable to maintain passenger comfort. Slower steering results in a gradual reduction of the disturbance. From the printed text DE 10 2017 008 303 A1 A method for steering a motor vehicle is known, comprising a first steering device in the form of a front-axle steering system and a second, actively controllable steering device in the form of a rear-axle steering system. The method aims to counteract the effect of an external lateral force, such as crosswinds, by actively steering the second steering device in order to reduce undesirable lateral deviations. To detect such a disturbance, the position of an instantaneous pivot point of the vehicle is calculated using a model and compared with the actual position of the pivot point determined by measurement. A deviation between the calculated and the measured value indicates a disturbance and leads to a corrective steering intervention by means of the rear-axle steering system. DE 44 10 429 A1 describes a steering system in which the steering angle of the front or rear wheels is controlled independently of the steering angle of the steering wheel in order to improve the handling and stability of the vehicle. DE 10 2015 009 241 A1 discloses a method and a system for the fail-safe control of a fully autonomous vehicle. The object of the present invention is to provide a system and a method for reducing lateral disturbance of the vehicle while still providing passenger comfort. The aforementioned problem is solved by a method for controlling a vehicle with the features of claim 1 and by a system for controlling a vehicle with the features of claim 4. Advantageous further developments are set forth in the dependent claims. The features and advantages described above, and further features and advantages of the disclosure, will become apparent from the following detailed description when taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS Further features, advantages and details appear only as examples in the following detailed description, which refers to the drawings; they show: 1 a vehicle with an associated track control system according to an exemplary embodiment; 2 a representation showing details of the vehicle's steering system in one embodiment; 3 a representation depicting the operation of a vehicle's steering system according to an embodiment in order to reduce the effect of a lateral disturbance exerted on the vehicle from the outside; 4 a representation showing the operation of the vehicle's steering system according to a further embodiment for reducing lateral disturbance; 5 a graph that represents the lateral deviation of the vehicle in response to a disturbance; and 6 a graph that represents the steering wheel angle of the vehicle in response to the disturbance. DETAILED DESCRIPTION The following description is merely exemplary and is not intended to limit the present disclosure, its application, or uses. It should be understood that throughout the drawings, corresponding reference numerals denote similar or corresponding sections and features. As the term "module" is used here, it refers to a processing circuit arrangement comprising an application-specific integrated circuit. (ASIC), may contain an electronic circuit, a processor (shared, dedicated or grouped) with memory that executes one or more software or firmware programs, a combinational logic circuit and/or other suitable components that provide the described functionality. According to an exemplary embodiment, 1 A vehicle 10 with an associated path control system 100. In general, the path control system 100 determines a path plan for the automated driving of the vehicle 10. The vehicle 10 generally comprises a chassis 12, a body 14, front wheels 16, and rear wheels 18. The body 14 is arranged on the chassis 12 and essentially encloses components of the vehicle 10. The body 14 and the chassis 12 can together form a frame. The front wheels 16 and the rear wheels 18 are each rotatably coupled to the chassis 12 near their respective corners of the body 14. In various embodiments, the vehicle 10 is an autonomous vehicle, and the rail control system 100 is incorporated into the autonomous vehicle. The autonomous vehicle is, for example, a vehicle that is automatically controlled to transport passengers from on