Vehicle variant independent lane centering control
Examples provide a system for performing lane centering control of a vehicle. The system includes a set of vehicle sensors configured to measure a speed of the vehicle, measure a yaw rate of the vehicle, and measure a lateral acceleration of the vehicle. The system also includes a lane centering controller configured to receive a requested lateral acceleration, determine a target lateral acceleration based on the requested lateral acceleration and the lateral acceleration, determine a target motor torque based on the target lateral acceleration, and determine whether a control override condition is met. In response to determining that the control override condition is not met, the lane centering controller controls a motor of the vehicle according to the target motor torque. The target motor torque is a motor torque necessary to achieve the target lateral acceleration.
1. A system for performing lane centering control of a vehicle, the system comprising:
a set of vehicle sensors, the set of vehicle sensors configured to:
measure a speed of the vehicle and output a measured vehicle speed,
measure a yaw rate of the vehicle and output a measured yaw rate, and
measure a lateral acceleration of the vehicle and output a measured lateral acceleration; and
a lane centering controller configured to:
receive a requested lateral acceleration,
determine a target lateral acceleration based on the requested lateral acceleration and the measured lateral acceleration,
determine a target motor torque based on the target lateral acceleration,
determine whether a control override condition is met, wherein the override condition is a determination by the lane centering controller that the measured torsion bar torque exceeds a calibration threshold, and
in response to determining that the control override condition is not met, control a motor according to the target motor torque, wherein the target motor torque is a motor torque necessary to achieve the target lateral acceleration.
2. The system of claim 1 , wherein the lane centering controller is configured to determine a lateral acceleration error based on a difference between the target lateral acceleration and the measured lateral acceleration.
3. The system of claim 2 , wherein the lane centering controller is configured to determine the target lateral acceleration and the target motor torque using a PID controller included in the lane centering controller and configured to:
receive the lateral acceleration error,
determine the target motor torque using the lateral acceleration error.
4. The system of claim 1 , wherein the lane centering controller is further configured to, in response to determining that the control override condition is met, control motor torque to 0 Newton-meters (Nm).
5. The system of claim 4 , wherein the control override condition includes a determination by the lane centering controller that the vehicle is in understeer or oversteer.
6. The system of claim 1 , wherein the set of vehicle sensors are further configured to measure a torsion bar torque of the vehicle and output a measured torsion bar torque.
7. The system of claim 1 , further comprising:
a rack position controller configured to control the motor based on a steering rack position of the vehicle;
wherein the lane centering controller is further configured to:
in response to determining that at least one selected from the group consisting of the measured lateral acceleration and the measured yaw rate exceeds a corresponding threshold, limit a control of the motor by the rack position controller.
8. A method for performing lane centering control of a vehicle including a set of sensors and a lane centering controller, the method comprising:
measuring a speed of the vehicle and output a measured vehicle speed;
measuring a yaw rate of the vehicle and output a measured yaw rate;
measuring a lateral acceleration of the vehicle and output a measured lateral acceleration;
receive a requested lateral acceleration,
determining a target lateral acceleration based on the requested lateral acceleration and the measured lateral acceleration;
determining a target motor torque based on the target lateral acceleration;
determining whether a control override condition is met, wherein the override condition is a determination by the lane centering controller that the measured torsion bar torque exceeds a calibration threshold; and
in response to determining that the control override condition is not met, controlling a motor according to the target motor torque, wherein the target motor torque is a motor torque necessary to achieve the target lateral acceleration.
9. The method of claim 8 , further comprising: determining a lateral acceleration error based on a difference between the target lateral acceleration and the measured lateral acceleration.
10. The method of claim 9 , wherein determining the target lateral acceleration and the target motor torque includes:
receiving, with a PID controller, the lateral acceleration error, and
determining, with the PID controller, the target motor torque using the lateral acceleration error.
11. The method of claim 8 , further comprising:
in response to determining that the control override condition is met, controlling motor torque to 0 Newton-meters (Nm).
12. The method of claim 11 , wherein
the control override condition includes a determination that the vehicle is in understeer or oversteer.
13. The method of claim 8 , further comprising:
measuring a torsion bar torque of the vehicle and outputting a measured torsion bar torque.
14. The method of claim 8 , further comprising:
controlling, with a rack position controller, the motor based on a steering rack position of the vehicle; and
in response to determining that at least one selected from the group consisting of the measured lateral acceleration and the measured yaw rate exceeds a corresponding threshold, limiting a control of the motor by the rack position controller.
15. A non-transitory computer-readable medium storing a program for performing lane centering control of a vehicle that, when executed by an electronic processor in the vehicle, causes the electronic processor to:
receive a requested lateral acceleration,
determine a target lateral acceleration based on the requested lateral acceleration and a measured lateral acceleration;
determine a target motor torque based on the target lateral acceleration;
determine whether a control override condition is met, wherein the override condition is a determination by the lane centering controller that the measured torsion bar torque exceeds a calibration threshold; and
in response to determining that the control override condition is not met, control a motor according to the target motor torque, wherein the target motor torque is a motor torque necessary to achieve the target lateral acceleration.