Method and arrangement for ensuring road tracking up to a predefined lateral acceleration limit using a PID controller in a vehicle

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United States of America Patent

PATENT NO 11794805
APP PUB NO 20210276619A1
SERIAL NO

17193315

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ATTORNEY / AGENT: (SPONSORED)

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Abstract

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Methods for ensuring road tracking up to a predefined lateral acceleration limit in a vehicle having an autonomous steering function arranged to selectively apply a steering wheel overlay torque to a normal steering assistance torque in an electrical power assisted steering system of the vehicle are provided. Such methods include acquiring the predetermined lateral acceleration limit; acquiring a signal representing a current lateral acceleration of the vehicle; comparing the predetermined lateral acceleration limit with the acquired current lateral acceleration signal to obtain a controller error; setting a torque limit for the steering wheel overlay torque; and subjecting the controller error to a proportional-integral-derivative (PID) controller, which is arranged to provide the torque limit for the steering wheel overlay torque after setting the torque limit to the initial value.

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Patent Owner(s)

  • ZENUITY AB; VOLVO CAR CORPORATION

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Gaudszun, Benjamin Bibertal, DE 2 1
Löfgren, Marcus Onsala, SE 1 1
Reber, Tanja Gröbenzell, DE 1 1
Veen, Jan Munich, DE 2 1

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