METHOD AND APPARATUS FOR METHOD FOR REAL TIME LATERAL CONTROL AND STEERING ACTUATION ASSESSMENT

• Main Authors: Adam, Paul A, Parks, Jeffrey S, Choi, Gabriel T, Godfrey, Michael J, Swantick, Braden J
• Format: Patent
• Language: English
• Published: 04.03.2021
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

The present application relates to a method and apparatus for real time lateral control and steering actuation assessment for a motor vehicle by determining a desired host vehicle path, establishing a control point along the host vehicle path, generating a motion path between a host vehicle location and the control point, estimating a theoretical acceleration of the host vehicle along the motion path, controlling the host vehicle along the motion path, receiving a measured acceleration from an inertial measurement unit within the host vehicle, generating an error term in response to a comparison of the motion path and the measured lateral travel, and adjusting the performance limits of the sub-features in response to the error term.