Anticipating module, associated device and method for controlling path in real time
View Patent ↗An anticipating module for a device for controlling, in real time, the path of a motor vehicle includes a sub-module for computing a turning command for compensating for the curvature of a bend in the lane of the vehicle and a variable-gain device that is connected to an output of the computing sub-module. The gain of the variable-gain device is connected to a controller to adjust the gain so as to decrease the lateral offset between the centre of gravity of the vehicle and the centre of the lane of the vehicle depending on the result of the comparison of components of a vector of current measurements of state variables of the device to one another and to a detection threshold, the output of the variable-gain device being the steering command for compensating for the curvature of the bend.
1. An anticipating module for a real-time path control device of a motor vehicle, the anticipating module comprising:
computing sub-module circuitry configured to compute a steering command to offset a curvature of a bend in a lane of the vehicle, and
a variable-gain device linked to an output of the computing sub-module circuitry,
wherein the variable-gain device is linked to a controller configured to adjust a gain value so as to decrease a lateral deviation between a center of gravity of the vehicle and a center of the lane of the vehicle as a function of a result of a comparison of components of a vector of current measurements of state variables of the variable-gain device with one another and with a detection threshold, an output of the variable-gain device being the steering command to offset the curvature of the bend.
2. The anticipating module as claimed in claim 1 , further comprising second computing sub-module circuitry linked to an output of the variable-gain device and configured to compute a measurement vector pseudo-calculated using a model of the vehicle.
3. The anticipating module as claimed in claim 2 , wherein the model of the vehicle is a bicycle model.
4. A real-time path control device of a vehicle configured to offset a curvature of a bend in a lane of a vehicle, the real-time path control device comprising:
an anticipating module that includes
computing sub-module circuitry configured to compute a steering command to offset the curvature of the bend in the lane of the vehicle, and
a variable-gain device linked to an output of the computing sub-module circuitry, the variable-gain device being linked to a controller configured to adjust a gain value so as to decrease a lateral deviation between a center of gravity of the vehicle and a center of the lane of the vehicle as a function of a result of a comparison of components of a vector of current measurements of state variables of the variable-gain device with one another and with a detection threshold; and
observer circuitry configured to generate, in real time, an estimated straight-lane-follow state vector of the vehicle such as to produce the steering command to stabilize a path of the vehicle in relation to the straight lane, the observer circuitry being linked to the anticipating module.
5. A real-time path control method for a motor vehicle configured to offset a curvature of a bend in a lane of a vehicle, the method being performed by an anticipating module that includes computing sub-module circuitry configured to compute a steering command to offset the curvature of the bend in the lane of the vehicle, and a variable-gain device linked to an output of the computing sub-module circuitry, the variable-gain device being linked to a controller, the method comprising:
adjusting, via the controller, a gain of the variable-gain device of the anticipating module when vehicle oversteer in relation to a nominal configuration is detected, in order to reduce a lateral deviation between a center of gravity of the vehicle and a center of the lane of the vehicle.
6. The real-time path control method as claimed in claim 5 , further comprising:
determining that the vehicle is oversteering in relation to the nominal configuration, when the lateral deviation and a direction of the bend are oriented in a same direction in a reference frame of the vehicle and the lateral deviation is greater than a detection threshold.
7. The real-time path control method as claimed in claim 6 , further comprising:
resetting the gain of the variable-gain device, when the lateral deviation and the direction of the bend are oriented in different directions in the reference frame of the vehicle and the lateral deviation is less than a detection threshold.