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1. WO2020141423 - STEERING ANGLE CALIBRATION

Publication Number WO/2020/141423
Publication Date 09.07.2020
International Application No. PCT/IB2019/061414
International Filing Date 27.12.2019
IPC
B62D 15/02 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators
CPC
B60W 40/114
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
40Estimation or calculation of ; non-directly measurable; driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, ; e.g. by using mathematical models
10related to vehicle motion
114Yaw movement
B62D 15/024
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators ; ; Steering position determination; Steering aids
021Determination of steering angle
024Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
B62D 15/0245
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators ; ; Steering position determination; Steering aids
021Determination of steering angle
0245Means or methods for determination of the central position of the steering system, e.g. straight ahead position
B62D 6/003
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
6Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
002computing target steering angles for front or rear wheels
003in order to control vehicle yaw movement, i.e. around a vertical axis
C08K 3/04
CCHEMISTRY; METALLURGY
08ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
KUse of inorganic or non-macromolecular organic substances as compounding ingredients
3Use of inorganic substances as compounding ingredients
02Elements
04Carbon
C08K 5/101
CCHEMISTRY; METALLURGY
08ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
KUse of inorganic or non-macromolecular organic substances as compounding ingredients
5Use of organic ingredients
04Oxygen-containing compounds
10Esters; Ether-esters
101of monocarboxylic acids
Applicants
  • MOTIONAL AD LLC [US]/[US]
Inventors
  • AL ASSAD, Omar
  • SECCAMONTE, Francesco
Agents
  • MOORE, Michael, Sean
  • GERRATANA, Frank L.
Priority Data
62/786,96831.12.2018US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) STEERING ANGLE CALIBRATION
(FR) ÉTALONNAGE D'ANGLE DE DIRECTION
Abstract
(EN)
Among other things, techniques are described for steering angle calibration. Anautonomous vehicle receives a steering angle measurement and a yaw rate measurement, andestimates a steering angle offset using the steering angle measurement, the yaw ratemeasurement, and a wheel base of the autonomous vehicle. An estimated yaw rate is determinedbased on a yaw rate model, the steering angle measurement and the estimated steering angleoffset. The yaw rate measurement and the estimated yaw rate are compared and an action isinitiated on the autonomous vehicle in response to the comparing.
(FR)
La présente invention concerne, entre autres, des techniques d'étalonnage d'angle de direction. Un véhicule autonome reçoit une mesure d'angle de direction et une mesure de vitesse de lacet et estime un décalage d'angle de direction au moyen de la mesure d'angle de direction, de la mesure de vitesse de lacet et de l'empattement du véhicule autonome. Une vitesse de lacet estimée est déterminée sur la base d'un modèle de vitesse de lacet, de la mesure d'angle de direction et du décalage d'angle de direction estimé. La mesure de vitesse de lacet et la vitesse de lacet estimée sont comparées et une action est lancée sur le véhicule autonome en réponse à la comparaison.
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