Lane keeping system for autonomous vehicle in wind conditions using vehicle roll
View Patent ↗A lane keeping system for a vehicle includes a first roll angle sensor configured to provide a first signal indicative of dynamic vehicle body roll. A second roll angle sensor is configured to provide a second signal indicative of an angle between vehicle sprung and unsprung masses. A lane keeping system (LKS) controller is in communication with the first and second roll angle sensors. The LKS controller is configured to discern a vehicle roll angle in response to the first and second signals based upon effects of a lateral wind force on the vehicle. The LKS controller is configured to produce a correction in response to the determined lateral wind force effects to maintain the vehicle along a desired path.
1. A lane keeping system for a vehicle comprising:
a first roll angle sensor configured to provide a first signal indicative of dynamic vehicle body roll;
a second roll angle sensor configured to provide a second signal indicative of an angle between vehicle sprung and unsprung masses; and
a lane keeping system (LKS) controller in communication with the first and second roll angle sensors, the LKS controller configured to discern a vehicle roll angle in response to the first and second signals based upon effects of a lateral wind force on the vehicle, the LKS controller configured to produce a correction in response to the determined lateral wind force effects to maintain the vehicle along a desired path.
2. The system according to claim 1 , comprising a vision system sensor in communication with the LKS controller and configured to confirm accuracy of the vehicle roll angle.
3. The system according to claim 2 , wherein the vision system sensor includes a camera, and the LKS controller is configured to confirm accuracy of the vehicle roll angle based upon video frames of the vehicle in relation to a roadway relative to a known horizon.
4. The system according to claim 1 , wherein the first roll angle sensor includes a gyroscope.
5. The system according to claim 1 , wherein the second roll angle sensor is a drivetrain that includes an axle having an axle angle, and the second roll angle sensor is configured to detect a change in the axle angle.
6. The system according to claim 1 , wherein the second roll angle sensor is a suspension system that includes laterally opposing suspension components that each provide a lateral suspension position, and the second roll angle sensor is configured to detect a change in the lateral suspension positions.
7. The system according to claim 1 , wherein the LKS controller is configured to determine a difference between the second signal and the first signal, the difference corresponding to the determined lateral wind force effects.
8. The system according to claim 1 , comprising a steering system in communication with the LKS controller, the LKS controller configured to add a wind compensation value to a commanded steering angle to maintain the vehicle along the desired path and counteract the determined lateral wind force effects.
9. The system according to claim 8 , wherein the correction is a function of the vehicle roll angle, a difference between the unsprung and sprung masses, a vehicle speed, a steering ratio, a vehicle mass, and a suspension coefficient.
10. A method of maintaining a vehicle along a desired path comprising the steps of:
determining a vehicle dynamic body roll from a first roll angle sensor;
determining an angle between vehicle sprung and unsprung masses from a second roll angle sensor;
discerning effects of lateral wind force to produce a correction based upon the determining steps; and
adding a wind compensation value to a commanded steering angle based upon the correction.
11. The method according to claim 10 , wherein the determining steps include providing a vehicle roll angle, and comprising the step of confirming accuracy of the vehicle roll angle.
12. The method according to claim 11 , comprising the step of determining a vehicle lateral orientation relative to a horizon to confirm the accuracy of the vehicle roll angle provided by first and second roll angle sensors associated with the determining steps.
13. The method according to claim 12 , wherein the horizon is determined based upon video frames of the vehicle from a camera in relation to a roadway relative to a known horizon.
14. The method according to claim 10 , wherein the vehicle dynamic body roll determining step is performed using an inertial measurement unit.
15. The method according to claim 14 , wherein the inertial measurement unit includes a gyroscope.
16. The method according to claim 10 , wherein angle determining step is performed using a second roll angle sensor, the second roll angle sensor is a drivetrain that includes an axle having an axle angle, and the second roll angle sensor is configured to detect a change in the axle angle.
17. The method according to claim 10 , wherein the second roll angle sensor is a suspension system that includes laterally opposing suspension components that each provide a lateral suspension position, and the second roll angle sensor is configured to detect a change in the lateral suspension positions.
18. The method according to claim 10 , wherein a lane keeping system (LKS) controller is configured to quantify a difference between the determining steps, the difference corresponding to the discerned lateral wind force effects.
19. The method according to claim 18 , comprising a steering system in communication with the LKS controller, the LKS controller configured to add a wind compensation value to a commanded steering angle to maintain the vehicle along a desired path and counteract the discerned lateral wind force effects.
20. The method according to claim 19 , wherein the correction is a function of the vehicle roll angle, a difference between the unsprung and sprung masses, a vehicle speed, a steering ratio, a vehicle mass, and a suspension coefficient.