专利名称：MODEL BASED PREDICTIVE CONTROL FOR
AUTOMATED LANE CENTERING/CHANGINGCONTROL SYSTEMS
发明人：Jin-Woo Lee申请号：US12399317申请日：20090306
公开号：US20100228420A1公开日：20100909
专利附图：
摘要：A system and method for providing steering control for lane changing and lanecentering purposes in an autonomous or semi-autonomous vehicle system. A vehicle
vision system calculates roadway lane marking information, such as lateral offset, yawangle and roadway curvature with respect to the vehicle's centered coordinate system.The roadway is then modeled as a second order polynomial equation. The method thenpredicts roadway lateral position and yaw angle over a pre-defined lane change
completion time using a vehicle dynamic model. The method then compares a predictedvehicle path with a desired vehicle path to generate an error value, and calculates asteering angle command to minimize the error value, where the steering angle commandis calculated as a function of vehicle lateral position, vehicle lateral speed, vehicle yawrate and vehicle yaw angle. The steering angle command is then sent to the vehiclesteering system.
申请人：Jin-Woo Lee
地址：Rochester Hills MI US
国籍：US
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