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1. (WO2017037374) DEVICE AND METHOD FOR CORRECTING THE DIRECTION OF TRAVEL OF A MOTOR VEHICLE

Pub. No.:    WO/2017/037374    International Application No.:    PCT/FR2016/052137
Publication Date: Fri Mar 10 00:59:59 CET 2017 International Filing Date: Tue Aug 30 01:59:59 CEST 2016
IPC: B60W 30/12
B60W 10/20
B60W 50/00
Applicants: RENAULT S.A.S
Inventors: MINOIU-ENACHE, Nicoleta
DO, Anh Lam
Title: DEVICE AND METHOD FOR CORRECTING THE DIRECTION OF TRAVEL OF A MOTOR VEHICLE
Abstract:
The invention relates to a method for correcting the direction of travel of a motor vehicle, comprising a measurement step in which, from a vehicle-mounted camera, the lateral distance (YL) between the vehicle and a marking stripe on the ground is measured, a measurement step in which the relative heading angle (ΨL) corresponding to the angle between the longitudinal axis of the vehicle and a line on the traffic lane is measured, and a calculation step (10) in which a correction gain is calculated in accordance with the measured lateral distance and relative heading angle, and a control variable (u) that acts upon the steering angle of the front steered wheels is generated from the calculated correction gain. The correction gain calculation includes a multi-criterion optimization step in which the minimum value for each of the following criteria is ascertained during the correction of the direction of travel: the lateral movement in the traffic lane, the steering angle applied to the wheels, and the lateral speed of the vehicle.