US 12,169,127 B2
Calculating vehicle states of a vehicle system for lane centering
Guoguang Zhang, Kokomo, IN (US)
Assigned to Aptiv Technologies AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on May 9, 2022, as Appl. No. 17/662,585.
Application 17/662,585 is a continuation of application No. 16/593,552, filed on Oct. 4, 2019, granted, now 11,359,919.
Prior Publication US 2022/0260374 A1, Aug. 18, 2022
Int. Cl. G01C 21/16 (2006.01); G07C 5/02 (2006.01)
CPC G01C 21/16 (2013.01) [G07C 5/02 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system configured to be mounted in a vehicle, the system comprising:
at least one processor configured to:
receive vehicle yaw rates and vehicle lateral speeds of the vehicle from an inertial navigation system (INS);
generate, based on the received vehicle yaw rates and vehicle lateral speeds, vehicle dynamic parameters of the vehicle, the vehicle dynamic parameters comprising a plurality of vehicle yaw rates and a plurality of vehicle lateral speeds over a predetermined number of samples;
calculate a first variation in the plurality of vehicle lateral speeds over the predetermined number of samples;
calculate a second variation in the plurality of vehicle yaw rates over the predetermined number of samples;
responsive to the first variation in the plurality of vehicle lateral speeds being less than a first threshold, calculate, based on the vehicle dynamic parameters and vehicle physical parameters, an updated tire cornering stiffness of the vehicle;
responsive to the second variation in the plurality of vehicle yaw rates being greater than a second threshold, calculate, based on the updated tire cornering stiffness determined from the vehicle dynamic parameters and vehicle physical parameters when the first variation is less than the first threshold, the vehicle dynamic parameters, and the vehicle physical parameters, an updated vehicle moment of inertia of the vehicle;
generate, using the updated vehicle moment of inertia of the vehicle, an updated lane centering algorithm; and
output the updated lane centering algorithm to control a steering of the vehicle.